基于自适应KF的船载地波雷达目标跟踪方法  

Target tracking method based on adaptive Kalman Filter in shipborne ground wave radar

作　　者：孙伟峰[1] 王俊超 李小彤 孙少奇 SUN Weifeng;WANG Junchao;LI Xiaotong;SUN Shaoqi(College of Oceanography and Space Informatics,China University of Petroleum(East China),Qingdao 266580,China)

机构地区：[1]中国石油大学(华东)海洋与空间信息学院,山东青岛266580

出　　处：《电子设计工程》2024年第6期140-145,共6页Electronic Design Engineering

基　　金：国家自然科学基金(62071493)。

摘　　要：针对使用传统的卡尔曼滤波器进行多目标跟踪易发生状态估计不准确、航迹断裂的问题,提出了一种转换量测卡尔曼滤波增益自适应调整方法。结合船只目标的运动特性和历史船只航迹数据,采用线性最小二乘拟合提取出航迹参数的变化趋势。使用似然函数分别计算目标预测状态和量测状态与航迹的隶属度。利用预测状态和量测状态的隶属度值对滤波方式进行选择。利用仿真及实测船载地波雷达数据开展了目标跟踪实验,结果表明,使用该文方法能够得到平滑、持续的航迹输出,目标的跟踪距离远、跟踪精度高,优于现有的自适应滤波方法。In order to solve the problem of inaccurate state estimation and track breakage when using traditional Kalman Filter for multi⁃target tracking,an adaptive gain adjustment method for converted measurement Kalman Filter is proposed.Based on the movement characteristics of vessels and historical ship track data,the variation trend of track parameters is extracted by linear least square fitting.The likelihood function is used to calculate the degree of membership between the predicted and measured target states and the track,respectively.The filter method is selected using the membership values of the predicted and measured states.The target tracking experiment is carried out using the simulated and measured shipborne surface wave radar data,and the results show that this method is superior to the existing adaptive filtering method and can obtain smooth and continuous tracks with long range and improved accuracy.

关 键 词：船载高频地波雷达 目标跟踪 隶属度函数 自适应卡尔曼滤波 

分 类 号：TN957.52[电子电信—信号与信息处理]