第 1 章 緒論 ····························································································.1
1.1 引言 ····························································································.1
1.2 目標(biāo)跟蹤的基本概念 ·······································································.2
1.3 目標(biāo)跟蹤問題的研究歷史和發(fā)展概況 ··················································.5
1.4 本書的內(nèi)容組織 ·············································································.6
思考題································································································.7
第 2 章 估計理論和濾波方法 ·······································································.8
2.1 概述 ····························································································.8
2.2 估計理論 ······················································································.8
2.2.1 問題描述··············································································.8
2.2.2 估計值的統(tǒng)計特性··································································.9
2.2.3 最小均方估計········································································11
2.2.4 極大后驗估計和極大似然估計·················································.13
2.2.5 線性最小均方估計································································.15
2.2.6 最小二乘估計和加權(quán)最小二乘估計···········································.17
2.3 濾波方法 ····················································································.19
2.3.1 線性系統(tǒng)的概念···································································.19
2.3.2 狀態(tài)方程和量測方程·····························································.22
2.3.3 兩點外推濾波······································································.24
2.3.4 線性遞推最小二乘濾波··························································.26
2.3.5 線性卡爾曼濾波···································································.28
2.3.6 常增益濾波·········································································.38
2.3.7 非線性濾波·········································································.43
小結(jié)·································································································.52
思考題······························································································.52
第 3 章 目標(biāo)定位方法 ··············································································.55
3.1 概述 ··························································································.55
3.2 空間幾何基礎(chǔ) ··············································································.55
3.3 坐標(biāo)系和坐標(biāo)轉(zhuǎn)換 ········································································.58
3.3.1 定位坐標(biāo)系·········································································.59
3.3.2 不同坐標(biāo)系間的數(shù)據(jù)轉(zhuǎn)換·······················································.60
3.3.3 觀測量的站間坐標(biāo)轉(zhuǎn)換··························································.65
3.4 定位誤差的度量 ···········································································.70
3.4.1 三維正態(tài)分布······································································.70
3.4.2 等概率密度誤差橢球·····························································.70
3.4.3 落入誤差球的概率································································.71
3.4.4 球概率誤差和圓概率誤差·······················································.72
3.5 單站球坐標(biāo)測量定位方法 ·······························································.73
3.5.1 定位的一般方法···································································.73
3.5.2 定位誤差分析······································································.74
3.6 多站斜距離測量定位方法 ·······························································.75
3.6.1 定位原理············································································.75
3.6.2 定位的可實現(xiàn)性···································································.77
3.6.3 定位誤差············································································.78
3.7 多站無源定位方法 ········································································.81
3.7.1 測向交叉定位法···································································.81
3.7.2 測時差定位法······································································.83
3.8 無線傳感器網(wǎng)絡(luò)節(jié)點定位算法 ·························································.90
3.8.1 基于距離的定位算法·····························································.90
3.8.2 距離無關(guān)的定位算法·····························································.92
小結(jié)·································································································.94
思考題······························································································.94
第 4 章 目標(biāo)跟蹤基本方法 ········································································.95
4.1 概述 ··························································································.95
4.2 坐標(biāo)系的選擇 ··············································································.96
4.2.1 極坐標(biāo)系············································································.97
4.2.2 直角坐標(biāo)系·········································································.98
4.3 數(shù)據(jù)預(yù)處理 ················································································.100
4.3.1 野值剔除···········································································.100
4.3.2 數(shù)據(jù)壓縮···········································································.102
4.4 跟蹤起始 ···················································································.103
4.4.1 航跡建立方式·····································································.104
4.4.2 航跡頭選擇········································································.104
4.4.3 航跡建立舉例·····································································.105
4.4.4 航跡建立準(zhǔn)則·····································································.106
4.5 航跡相關(guān) ···················································································.106
4.5.1 航跡相關(guān)過程·····································································.107
4.5.2 航跡相關(guān)的一般步驟····························································.113
4.5.3 典型航跡相關(guān)方法·······························································.114
4.6 目標(biāo)運動模型 ·············································································.121
4.6.1 目標(biāo)運動特性·····································································.121
4.6.2 典型目標(biāo)運動模型·······························································.123
4.7 量測模型 ···················································································.129
4.7.1 傳感器坐標(biāo)模型··································································.129
4.7.2 笛卡兒坐標(biāo)模型··································································.130
4.7.3 量測轉(zhuǎn)換分析·····································································.131
4.8 不同模型下的跟蹤濾波方法 ···························································.135
4.8.1 基于 CV 模型的卡爾曼濾波算法 ·············································.135
4.8.2 基于 CA 模型的卡爾曼濾波算法 ·············································.137
4.8.3 基于機(jī)動目標(biāo)“當(dāng)前”統(tǒng)計模型的卡爾曼濾波算法 ·····················.139
4.9 機(jī)動目標(biāo)跟蹤方法 ·······································································.140
4.9.1 機(jī)動檢測自適應(yīng)濾波····························································.141
4.9.2 實時辨識自適應(yīng)濾波····························································.145
4.9.3 全面自適應(yīng)濾波··································································.146
4.10 航跡質(zhì)量管理 ···········································································.150
4.10.1 基本概念 ·········································································.150
4.10.2 航跡管理方法 ···································································.150
小結(jié)································································································.152
思考題·····························································································.152
第 5 章 基于多傳感器信息融合的目標(biāo)跟蹤 ··················································.154
5.1 概述 ·························································································.154
5.1.1 信息融合的定義··································································.154
5.1.2 多源信息融合模型·······························································.154
5.2 時間與空間配準(zhǔn) ··········································································.158
5.2.1 問題描述···········································································.158
5.2.2 時間配準(zhǔn)算法·····································································.160
5.2.3 空間配準(zhǔn)算法·····································································.161
5.3 航跡及其融合 ·············································································.171
5.3.1 基本概念···········································································.171
5.3.2 航跡關(guān)聯(lián)···········································································.173
5.3.3 航跡融合···········································································.181
小結(jié)································································································.187
思考題·····························································································.187
第 6 章 目標(biāo)定位跟蹤方法應(yīng)用 ·································································.188
6.1 概述 ·························································································.188
6.2 火炮射擊協(xié)同式檢靶方法研究 ························································.188
6.2.1 常用檢靶手段及分析····························································.188
6.2.2 基于 UWB 定位的協(xié)同式檢靶手段 ··········································.189
6.3 無線聲吶浮標(biāo)網(wǎng)絡(luò)目標(biāo)跟蹤系統(tǒng) ·····················································.192
6.3.1 問題描述···········································································.193
6.3.2 目標(biāo)跟蹤算法·····································································.194
6.3.3 仿真分析···········································································.196
6.4 無人機(jī)姿態(tài)誤差對目標(biāo)定位精度的影響研究 ······································.200
6.4.1 無人機(jī)姿態(tài)對測量目標(biāo)點位置誤差影響的數(shù)學(xué)模型 ·····················.201
6.4.2 目標(biāo)點位置誤差的表示方法···················································.202
6.4.3 仿真分析···········································································.203
6.5 視覺目標(biāo)跟蹤方法和應(yīng)用研究 ························································.206
6.5.1 海上水柱目標(biāo)檢測跟蹤問題描述·············································.207
6.5.2 基于動態(tài)特征的海上彈著點水柱檢測跟蹤算法 ···························.208
6.5.3 實驗結(jié)果與分析··································································.213
小結(jié)································································································.218
思考題·····························································································.218
參考文獻(xiàn) ·······························································································.219