CN104502907B - A kind of airborne radar ground sound target tenacious tracking method - Google Patents
A kind of airborne radar ground sound target tenacious tracking method Download PDFInfo
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
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Abstract
The present invention relates to a kind of airborne radar ground sound target tenacious tracking method, according to dynamic and static target characteristic, use transmitting nonlinear frequency modulation and stepped frequency signal simultaneously respectively dynamic and static target to be detected.NLFM signal is mainly for detection of moving-target, and stepped frequency signal is mainly for detection of quiet target.A scanning frame at radar can obtain the once some mark of ground moving target and quiet target simultaneously.Compared with traditional method, the present invention can pay close attention to ground moving target and quiet target, the corresponsively overall situation of Area Objects simultaneously, when target is by moving quiet or can persistently be followed the tracks of to time dynamic by quiet, it is ensured that the continuous-stable of the dynamic and static target in ground is followed the tracks of.
Description
Technical field
Belong to the present invention Area Objects data processing method, be under the jurisdiction of Radar Signal Detection and technical field of data processing,
It is specifically related to a kind of airborne radar ground sound target tenacious tracking method.
Background technology
There is notable difference in airborne radar multiple target tracking over the ground compared with tradition air search radar, technical difficulty is big.First,
There is relative motion between airborne radar platform and target, target following is not only relevant with the kinestate of target, but also
Relevant with the kinestate of carrier aircraft self;Secondly as following the tracks of target is ground target, there is the stronger land clutter back of the body
Scape, makes detections of radar target difficult;Finally, due to ground static target and moving target, maneuvering target and non-maneuver
Target exists simultaneously, makes target tenacious tracking difficulty dramatically increase.
(1) target travel environment: aerial target is moved at three dimensions, and ground target generally can equivalence in little scope
For two dimensional motion, and, for the target of motion on road, motion in one dimension can be equivalent in certain stage, until meeting
To road junction, now its direction of motion is it may happen that change.Additionally the moving region of Area Objects would generally be subject to
More restriction, the most severe orographic condition makes target to pass through.Although aerial target also can run into massif etc.
Stop, but its suffered external environment condition limits far less than ground target.
(2) target travel characteristic: aerial target, in addition to helicopter and dirigible, is all limited by minimum speed, is less than
The target of this restriction will be unable to run well, and ground target then can accelerate, slows down, totally stationary or at one section
Keep kinestate constant in time.Therefore the transmutability aerial target to be far above of ground target motion.
(3) heavy dense targets degree: unless some special circumstances, usual aerial target can keep certain safe distance.And ground
Between Area Objects, can with the nearest distance motion, time static can also one connect a ground and park, therefore ground
The closeness of target is far above aerial target.
(4) sensor detection probability: due to terrain shading, sensor possibly cannot observe ground target, additionally ground
There is minimum detection radial velocity (MDV), when target is static or moves with relatively low velocity in moving-target instruction (GMTI)
Sensor cannot detect, and therefore the detection of sensor is probably discontinuous.
(5) clutter: ground target is moved in the environment that clutter is the most serious, the clutter recognition used at present processes also nothing
Method reaches close to preferable inhibition, and the reduction and false-alarm number purpose that cause detection probability are increased by the existence of clutter.
Airborne radar, when detecting on a surface target, needs to pay close attention to ground moving target and quiet target simultaneously.Traditional data
Processing method is subject to processing level and technical conditions limit, and generally moving-target and quiet target is separately processed, and the method can not
The most overall situation of Area Objects fully, especially when target by move quiet or by quiet to dynamic moving time, mesh can be caused
Mark is lost.
Along with microelectric technique develops, chip processing capabilities improves constantly, and double-core, the continuous of multi-core CPU occur and answer
With, limit the hardware bottleneck disappearance that multiple batches of ground target processes, develop a kind of ground sound target data processing method,
Ensure that the dynamic and static in stable condition tracking of ground target is possibly realized.
Summary of the invention
In place of the deficiencies in the prior art, the present invention proposes a kind of airborne radar ground sound target tenacious tracking
Method
A kind of airborne radar ground sound target tenacious tracking method, it is characterised in that step is as follows:
Step 1: radar emission NLFM signal is used for detecting moving-target, launches stepped frequency signal and detects quiet target,
A scanning frame at radar obtains the once some mark of ground moving target and quiet target simultaneously;
Step 2: the once some mark carrying out moving-target and quiet target respectively carries out secondary lobe and weighting agglomeration process;
Step 3: use track initiation method based on two-stage Hough transform to be built respectively by dynamic and quiet target congealing point
Vertical respective alternative flight path;Alternative for former frame flight path is carried out motion compensation, compensates present frame carrier aircraft position;
Step 4: the position of prediction present frame flight path: Wherein: WithRespectively represent present frame flight path position, speed and
Component of acceleration;
Step 5: repeat step 1~step 2, obtains the congealing point of next some mark;
Step 6: centered by the predicted position of flight path, is associated the metric data and flight path that fall into Bo Mennei,
To correlation combiner;
If metric data does not falls within the Bo Mennei of any one flight path, set up a new flight path with these data;
If there is no observation station at the Bo Mennei of flight path, in two kinds of situation:
Situation 1: when moving-target flight path is the most uncorrelated with all moving-target congealing points, then carries out two hypothesis tracking, obtain
Correlation combiner;
Assume 1: target is undetected, then flight path is extrapolated according to the characteristics of motion before;
Assume 2: target is static, then carry out between moving-target flight path to quiet target congealing point is relevant, if having relevant
Point, then carry out flight path renewal with it, and without reference point, then the position keeping flight path original is motionless, and speed is zero;
Situation 2: when quiet targetpath is the most uncorrelated with all quiet target congealing points, then carry out two hypothesis tracking;
Assume 1: target is undetected, then the position keeping flight path original is motionless, and speed is zero, and target is the most static;
Assume 2: target transfers motion to, then carry out between quiet targetpath to moving-target congealing point is relevant, if had
Reference point, then carry out flight path renewal with it, and estimates the speed of flight path, without reference point, then keeps flight path former
The position come is motionless, waits the relevant of next frame, obtains correlation combiner;
The correlation combiner of all moving-target flight paths and quiet targetpath is participated in computing according to the following formula, finds an overall generation
The optimum allocation that valency is minimum, carries out the final updated of flight path with it;
a*(k)=arg mina(k)C(k|a(k))
Wherein:
Wherein:
C (k, m, n) be distribution a (k, m, cost value n):
When situation 1: Φ (k, m, n) be calculated as follows:
Wherein: m > 0, n > 0 is relevant to flight path for measuring;M > 0, n=0 are for measuring and already present flight path not phase
Close, for false-alarm;M=01, n > 0 is relevant to flight path for assuming measurement 1;M=02, n > 0 for assume to measure 2 with
Flight path is correlated with;
Λ (k, m, n) be Interactive Multiple-Model estimate combined probability, v0It is Minimum detectable, vr(K) it is that kth is swept
Retouch the radial velocity of frame (if kth scanning frame does not has measured value, vr(K) it is to be recorded in advance by-1 scanning frame of kth
Come).Assume speed Gaussian distributed, then can calculate P{ | vr(k)|≥v0And P{ | vr(k) | < v0};
The spatial density λ of false-alarm is
Wherein PFABeing false-alarm probability, distance, orientation, the certainty of measurement of distance speed three-dimensional are respectively
With
When situation 2, Φ (k, m, n) be calculated as follows:
Situation 2 needs to calculate P{ | vr(k) |=0} and P{ | vr(k)|!=0};
Described ripple door includes range gate, orientation Bo Men, pitching ripple door and Doppler's ripple door;
Step 7, filtering: according to the filtering method of alpha-beta-γ, flight path is filtered
Wherein gain matrix Observing matrix H=[1 0 0];
Step 8, flight path manage: when a flight path repeatedly do not have observation station cause repeatedly extrapolate time, by flight path delete;
Repeat step 1~step 8, carry out sound target tenacious tracking.
Described range gate 20~50m.
Described orientation ripple door 1.5~2.5 degree.
Described pitching ripple door 2~4 degree.
Described Doppler's ripple door 3~6.
A kind of airborne radar ground sound target tenacious tracking method that the present invention proposes, according to dynamic and static target characteristic,
Transmitting nonlinear frequency modulation and stepped frequency signal simultaneously is used respectively dynamic and static target to be detected.NLFM signal
Mainly for detection of moving-target, stepped frequency signal is mainly for detection of quiet target.A scanning frame at radar can be same
Time obtain the once some mark of ground moving target and quiet target.
Compared with traditional method, the present invention can pay close attention to ground moving target and quiet target simultaneously, corresponsively Area Objects
Overall situation, when target is by moving quiet or can persistently be followed the tracks of to time dynamic by quiet, it is ensured that the dynamic and static target in ground continuous surely
Fixed tracking.
Accompanying drawing explanation
Fig. 1: for static-dynamic-dynamic rate curve moved of target
Fig. 2: for static-dynamic-dynamic geometric locus moved of target, square frame is the position that target is static
Fig. 3: for the rate curve of target stationary-mobile-quiet motion
Fig. 4: for the geometric locus of target stationary-mobile-quiet motion, square frame is the position that target is static
Fig. 5: for the relation schematic diagram of carrier aircraft NED with carrier aircraft LOS coordinate system
Fig. 6: be the related procedure of two hypothesis tracking
Detailed description of the invention
In conjunction with embodiment, accompanying drawing, the invention will be further described:
Radar data processes, and is primarily directed to aerial target and naval target, and ground target mobility strong, clutter
Interference is big, the influence factor such as target occlusion is more in targeted species scope many, same, to the detection of target, merger,
Cohesion, build boat and be proposed higher requirement.Need on the basis of conventional radar data processing method, for ground
Target characteristic, proposes one and is suitable for strong maneuvering target, and can method to sound target tenacious tracking simultaneously.The most right
Fig. 1~Fig. 4 tetra-width figure, target is quiet again to dynamic by moving, or target by quiet to moving again to quiet, can tenacious tracking.
According to dynamic and static target characteristic, use and launch nonlinear frequency modulation and stepped frequency signal respectively to dynamic and static target simultaneously
Detect.NLFM signal is mainly for detection of moving-target, and stepped frequency signal is mainly for detection of quiet target.
A scanning frame at radar can obtain the once some mark of ground moving target and quiet target simultaneously.
1) two assume tracking
Two assume that the basic ideas of tracking are, when a target is when this frame is without observation station, assume to divide according to two kinds
Cheng Liangge branch, finally finds one group of optimum allocation to carry out more fresh target in the most relevant distribution.
Situation one:
When a moving target does not detect at a certain frame, having two kinds of probabilities, one is due to environment or detection door
The setting of limit, causes target undetected, and another kind is owing to target velocity is too small, less than Minimum detectable,
Cannot be by moving-target detection detection, target occurs in quiet target detection.
Situation two:
When a static target does not detect at a certain frame, having two kinds of probabilities, one is due to environment or detection door
The setting of limit, causes target undetected, and another kind is owing to target transfers motion to, the position before have left, mesh
Mark in the detection of present moving-target.
For both the above situation, two hypothesis trackings can be used.
A) target travel and measurement model
tkThe state value of moment target is
Wherein x (tk) and y (tk) be respectively cartesian coordinate system x, the position of y-axis,WithIt is respectively x, y
The speed of axle.
The state model of target is
X(tk)=F (tk)X(tk-1)+Γ(tk)v(tk-1) (2)
Wherein F is state-transition matrix, and Γ is excitation matrix, v (tk-1) it is process noise.
tkMoment measures vector and comprises distance, azimuth-range speed i.e. doppler information.
Wherein W (tk) it is to measure noise vector.
B) principle of two hypothesis trackings
Two assume that the subject matter that tracking is to be solved is, measured value M (k) of kth frame and the flight path of kth-1 frame
The optimum attaching problem of T (k-1).It is minimum that optimum is exactly the overall associated costs realizing measuring between flight path.
Define binary system distribution variable a (k, m, n),
The complete or collected works making a (k) be distribution, then
Wherein M (k) is the sum of sound target detection measured value, and N (k-1) is the number of flight path.
Comprise the first assume measure distribution a (k, 01, n) represent owing to being not detected by, flight path TnK () surveys with any one
Amount M (k) is the most uncorrelated.
Comprise the second assume measure distribution a (k, 02, n), represent owing to target is static or radial velocity is little in situation one
Flight path T is caused in Minimum detectablenK () measures the most uncorrelated with any one moving-target in M (k);At situation two table
Show and cause flight path T owing to target travel have left original positionnK in () and M (k), any one quiet target measurement is the most not
Relevant.
Distribution a (k, m, 0) represents that measurement m is the most uncorrelated (assuming that it is a false-alarm with any one already present flight path
Point).
Our purpose is to find an optimum allocation a*K (), it can make overall situation associated costs minimum, i.e.
a*(k)=arg mina(k)C(k|a(k)) (6)
Wherein
Wherein (k, m n) are distribution a (k, m, cost value n) to c.
Situation one:
Wherein m > 0, n > 0 is relevant to flight path for measuring;M > 0, n=0 are uncorrelated with already present flight path for measuring,
I.e. false-alarm;M=01, n > 0 is relevant to flight path (due to P for assuming measurement 1D< 1);M=02, n > 0 is for assuming
Measure 2 relevant to flight path (owing to Minimum detectable limits).
Λ (k, m, n) be Interactive Multiple-Model estimate combined probability, v0It is Minimum detectable, vrK () is that kth is swept
Retouch the radial velocity of frame (if kth scanning frame does not has measured value, vrK () is to be recorded in advance by-1 scanning frame of kth
Come).Assume speed Gaussian distributed, then can calculate P{ | vr(k)|≥v0And P{ | vr(k) | < v0}。
The spatial density λ of false-alarm is
Wherein PFABeing false-alarm probability, distance, orientation, the certainty of measurement of distance speed three-dimensional are respectively
With
Situation two:
Situation two needs to calculate P{ | vr(k) |=0} and P{ | vr(k)|!=0}.
C) two assume the restrictive condition followed the tracks of
A () confirms.One measurement is only possible to relevant to a flight path, and must is fulfilled for
γ is to confirm thresholding,It is prediction measured value, Sm(tk) it is covariance.
(b) man-to-man restriction.One flight path is the most relevant to a measurement, and assumes that flight path can be with the most
Individual measurement is correlated with.Measure for one and at most distribute to a flight path, and assume to measure (m=01Or m=02) can divide
The multiple flight path of dispensing.
C () non-NULL is correlated with.Assume that measurement can not be distributed to assume flight path.
D) state updates
Situation one:
Assume not measure in kth frame to update flight path, then obtain the state of flight path from the prediction of k-1 frame to k frameWith covariance P (k | k-1).Radial velocity obeys averageVariance is Pr(k | k-1)
Gauss distribution.If flight path is relevant to assuming measurement 1 (being not detected by), then the state estimation of target current time
It it is the predictive value of previous scanning frame.If flight path is relevant to assuming measurement 2 (Minimum detectable restriction), then
The position of target remains stationary as, and speed is zero.
Situation two:
Assuming not measure in kth frame to update flight path, the most no matter flight path is relevant to assuming measurement 1 (being not detected by),
Or relevant to assuming measurement 2 (target transfers motion to), the position all keeping target is motionless, and speed is zero.
Detailed description of the invention:
1) launch nonlinear frequency modulation and stepped frequency signal simultaneously, obtain the once some mark of ground moving target and quiet target;
2) target agglomeration process
Carry out moving-target respectively and agglomeration process that quiet target is once put, all include secondary lobe and weighting cohesion two steps.
● remove secondary lobe
First delimit a distance and the scope of speed, the line amplitude that clicks in the range of this compared, amplitude difference
Excessive point is considered secondary lobe, is deleted.
● amplitude weighting
Owing to radar beam is when scanning continuously, wave beam lobe has one fixed width, and at least several pulses are swept continuously
To target, the corresponding orientation values of each pulse, same target is caught in repeatedly, repeatedly during capture target
Orientation values is the most different, and it is bigger that this has resulted in azimuthal splitting degree.It is thus desirable to mesh same in single pass
The multiple Plot coherence of target becomes a some mark.
To delimit some M altogether at distance, orientation, pitching and Doppler four-dimension Bo Mennei, the amplitude of carrying out adds simultaneously
Power.
The distance of the jth congealing point of the i-th frame is:
Wherein, M is once counting of four-dimensional Bo Mennei, and r (k) is the distance that kth is once put, and F (k) is kth once point
Amplitude, riJ () is the distance of the jth congealing point of the i-th frame.
3) boat is built
The congealing point of dynamic and static target is set up alternative flight path;Use track initiation method based on two-stage Hough transform.
● choose displacement time as parameter, twice adjacent measurement done such as down conversion:
Wherein
N in formulaθSegmentation hop count for parameter θ.
K=(vmax+αmaxT)/12 is proportionality coefficient, vmaxAnd αmaxIt is respectively the maximal rate and the most greatly of target
Speed, T is the sampling period.
Find θn=θ0, (n=1,2 ..., Nθ) so that Δ ρi[θn]=0.
● first order Hough transform
First to xiAnd yiDo Hough transform based on kinestate.
If flight path meetsWithThen think that this flight path may be for reliable boat
Mark, if be unsatisfactory for, then this flight path is false track, directly deletes from alternative flight path.
● second level Hough transform
Due at more than 1km, oblique distance riWith time tiThe most linear, therefore can be to oblique distance riDo based on fortune
The Hough transform of dynamic state, if flight path meetsThen this flight path can be initiateed.
4), when next frame once puts mark arrival, the cohesion of dynamic and static target is carried out the most respectively;
5) alternative for former frame flight path is carried out motion compensation, compensate present frame carrier aircraft position;
The history point mark of flight path includes two steps (with reference to Fig. 5) to the carrier aircraft NED down conversion of this frame: (1) oblique distance compensates:
Oblique distance should compensate according to displacement rather than distance.It is true that need the displacement compensated should be carrier aircraft two frames it
Between air line distance between corresponding moment NED coordinate system (for treating compensation point mark) initial point, according still further to sine
Calculating the oblique distance of target under current carrier aircraft NED, this computing is also obtained the azimuth deviation introduced by carrier aircraft displacement.Real
On border, this displacement calculating means is, by all previous move distance of all inertial guidance data between two frame initial times to this displacement to
(being determined by the yaw angle of two frame initial times) projects and sues for peace in amount direction.(2) orientation compensates: need to enter in two steps
OK, the orientation values of some mark is firstly the need of (for treating compensation point mark, being phase by driftage declinate filtered between two frames
The yaw angle difference of adjacent frame corresponding moment NED) deduct, its secondary azimuth deviation carrier aircraft displacement introduced compensates.
6) prediction
The characteristics of motion according to flight path, it was predicted that the position of present frame flight path;
Wherein Here,WithRepresent position respectively, speed and adding
Velocity component.
7) relevant
Centered by the predicted position of flight path, setpoint distance, orientation, pitching and Doppler relevant ripple door, ripple will be fallen into
Metric data and flight path in Men are associated, and this metric data is probably the new observation of this flight path correspondence target, it is possible to
Can be false-alarm, it is also possible to be the initial of a fresh target, finally determining of these problems obtains more observation by the time
Carry out again after data.If metric data does not falls within the Bo Mennei of any one flight path, then these data directly produce one
Individual new flight path.If there is no observation station at the Bo Mennei of flight path, then carry out course extrapolation.
When moving-target flight path is the most uncorrelated with all moving-target congealing points, then carry out two hypothesis tracking.Assume a target not
It is detected, then flight path is extrapolated according to the characteristics of motion before;Assume that two targets are static, then carry out moving-target boat
Relevant between mark to quiet target congealing point, if there being reference point, then carries out flight path renewal with it, without relevant
Point, then the position keeping flight path original is motionless, and speed is zero.
When quiet targetpath is the most uncorrelated with all quiet target congealing points, then carry out two hypothesis tracking.Assume a target not
Be detected, then the position keeping flight path original is motionless, and speed is zero, and target is the most static;Assume that two targets transfer fortune to
Dynamic, then carry out between quiet targetpath to moving-target congealing point is relevant, if there being reference point, then carries out flight path with it
Updating, and estimate the speed of flight path, without reference point, then the position keeping flight path original is motionless, waits next
Being correlated with of frame.
The correlation combiner of all moving-target flight paths and quiet targetpath is participated in computing, finds an overall situation according to formula 6
The optimum allocation of Least-cost, carries out the final updated of flight path with it.
8) filtering
According to alpha-beta-γ filtering method, flight path is filtered.
Wherein gain matrix Observing matrix H=[1 0 0].
9) flight path management
When a flight path does not repeatedly have observation station repeatedly to extrapolate, flight path is deleted.
10) flight path is newly-built
The point mark shut mutually, sets up new alternative flight path.
11) 4 are repeated)~10).
Claims (5)
1. an airborne radar ground sound target tenacious tracking method, it is characterised in that step is as follows:
Step 1: radar emission NLFM signal is used for detecting moving-target, launches stepped frequency signal and detects quiet target, and a scanning frame at radar obtains the once some mark of ground moving target and quiet target simultaneously;
Step 2: the once some mark carrying out moving-target and quiet target respectively carries out secondary lobe and weighting agglomeration process;
Step 3: use track initiation method based on two-stage Hough transform that dynamic and quiet target congealing point is set up respective alternative flight path respectively;Alternative for former frame flight path is carried out motion compensation, compensates present frame carrier aircraft position;
Step 4: the position of prediction present frame flight path:Wherein:x、WithRepresenting the position of present frame flight path respectively, speed and component of acceleration, T is the sampling period;
Step 5: repeat step 1~step 2, obtains the congealing point of next some mark;
Step 6: centered by the predicted position of flight path, is associated the metric data and flight path that fall into Bo Mennei, obtains correlation combiner;
If metric data does not falls within the Bo Mennei of any one flight path, set up a new flight path with these data;
If there is no observation station at the Bo Mennei of flight path, in two kinds of situation:
Situation 1: when moving-target flight path is the most uncorrelated with all moving-target congealing points, then carries out two hypothesis tracking, obtain correlation combiner;
Assume 1: target is undetected, then flight path is extrapolated according to the characteristics of motion before;
Assume 2: target is static, then carry out between moving-target flight path to quiet target congealing point is relevant, if there being reference point, then carries out flight path renewal with it, and without reference point, then the position keeping flight path original is motionless, and speed is zero;
Situation 2: when quiet targetpath is the most uncorrelated with all quiet target congealing points, then carry out two hypothesis tracking;
Assume 1: target is undetected, then the position keeping flight path original is motionless, and speed is zero, and target is the most static;
Assume 2: target transfers motion to, then carry out between quiet targetpath to moving-target congealing point is relevant, if there being reference point, then carry out flight path renewal with it, and estimate the speed of flight path, without reference point, then the position keeping flight path original is motionless, wait the relevant of next frame, obtain correlation combiner;
The correlation combiner of all moving-target flight paths and quiet targetpath is participated in computing according to the following formula, finds the optimum allocation of an overall Least-cost, carry out the final updated of flight path with it;
a*(k)=arg mina(k)C(k|a(k))
Wherein:
Wherein:
C (k, m, n) be distribution a (k, m, cost value n):
A (k) is the complete or collected works of distribution, and a (k, m, be n) that binary system distributes variable, and M (k) is the sum of sound target detection measured value, and N (k-1) is the number of flight path, 01、02For sound target detection measured value;
When situation 1: Ф (k, m, n) be calculated as follows:
Wherein: m > 0, n > 0 is relevant to flight path for measuring;M > 0, n=0 are uncorrelated with already present flight path, for false-alarm for measuring;M=01, n > 0 is relevant to flight path for assuming measurement 1;M=02, n > 0 is relevant to flight path for assuming measurement 2;
Λ (k, m, n) be Interactive Multiple-Model estimate combined probability, v0It is Minimum detectable, vrK () is that the radial velocity of kth scanning frame is not (if kth scanning frame has measured value, vrK () is to be got by-1 scanning frame prediction of kth), it is assumed that speed Gaussian distributed, then can calculate P{ | vr(k)|≥v0And P{ | vr(k) | < v0};
The spatial density λ of false-alarm is:
Wherein PFABeing false-alarm probability, distance, orientation, the certainty of measurement of distance speed three-dimensional are respectivelyWith
When situation 2, Ф (k, m, n) be calculated as follows:
Situation 2 needs to calculate P{ | vr(k) |=0} and P{ | vr(k)|!=0};
Described ripple door includes range gate, orientation Bo Men, pitching ripple door and Doppler's ripple door;
Step 7, filtering: according to the filtering method of alpha-beta-γ, flight path is filtered
Wherein gain matrixObserving matrix H=[1 0 0];
Step 8, flight path manage: when a flight path repeatedly do not have observation station cause repeatedly extrapolate time, by flight path delete;Repeat step 1~step 8, carry out sound target tenacious tracking.
Airborne radar ground sound target tenacious tracking method the most according to claim 1, it is characterised in that: described range gate 20~50m.
Airborne radar ground sound target tenacious tracking method the most according to claim 1, it is characterised in that: described orientation ripple door 1.5~2.5 degree.
Airborne radar ground sound target tenacious tracking method the most according to claim 1, it is characterised in that: described pitching ripple door 2~4 degree.
Airborne radar ground sound target tenacious tracking method the most according to claim 1, it is characterised in that: described Doppler's ripple door 3~6.
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