CN107289968B - A kind of method for estimating state and device of maneuvering target of turning - Google Patents
A kind of method for estimating state and device of maneuvering target of turning Download PDFInfo
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Abstract
The invention discloses a kind of method for estimating state of maneuvering target of turning, and the described method comprises the following steps: step 1 is estimated using the turning rate that the position measurement of N number of different moments obtains turning maneuvering target；Step 2 is estimated using the position and speed that position measurement and the estimation of turning rate obtain turning maneuvering target；Step 3 is estimated to obtain the state estimation of turning maneuvering target based on the estimation of turning rate and position and speed.The invention also discloses a kind of condition estimating devices of maneuvering target of turning, to effectively estimate the state of turning maneuvering target.
Description
Technical Field
The invention relates to the technical field of sensors, in particular to a method and a device for estimating the state of a turning maneuvering target.
Background
The target tracking usually needs a sensor to estimate the initial state of a target according to the measurement data of the first few moments so as to start a new target track, the existing estimation method of the initial state is only suitable for a target moving at a constant speed and a target moving at a uniform acceleration, and is not suitable for a turning maneuvering target, and how to effectively estimate the state of the turning maneuvering target is a key technical problem needing exploration and research.
Disclosure of Invention
The invention mainly aims to provide a method and a device for estimating the state of a turning maneuvering target, and aims to solve the technical problem that the state of the turning maneuvering target is difficult to effectively estimate in the prior art.
To achieve the above object, the present invention provides a state estimation method of a turning maneuver target, the method including the steps of:
step 1, obtaining turning rate estimation of a turning maneuvering target by using position measurement data of N different moments;
step 2, utilizing the position measurement data and the turning rate estimation to obtain the position and speed estimation of the turning maneuvering target;
and 3, obtaining the state estimation of the turning maneuvering target based on the turning rate estimation and the position and speed estimation.
Further, the step 1 specifically includes:
setting the position measurement data of the turning maneuvering target at N different moments asWherein k is 1,2, …, N,an x component representing position measurement data of the turning maneuver object at time k,a y-component, t, representing position measurement data of the turning maneuver object at time kkRepresents the time at time k;
using position measurement data at three different successive timesAndobtaining the turning rate omega of the turning maneuvering target at the moment ii；
Wherein,
i＝1,2,…,N-2，sgn(ai) Represents the variable aiSymbol of
Based on the turning rate omegaiWherein i is 1,2, …, N-2, determining a turn rate estimate for the turning maneuver target as
Further, the step 2 specifically includes:
combining the position measurement data of the N different time instants into a column vector myWhereinsuperscript T represents the transpose of a matrix or vector;
representing the position and velocity of the turning maneuver target at time r as a column vector ξrWhereinr＝1,2,…,N，xrx component, y representing the target position at time rrA y-component representing the target position at time r,an x component representing the speed of movement of the object at said time r,a y component representing the speed of movement of the target at time r;
based on the column vector myAnd the turning rate estimationDetermining a position and velocity estimate of the cornering maneuver target at time r as
Wherein,
further, the step 3 specifically includes:
estimating the turning rateAnd said position and velocity estimatesTo carry out the combinationAnd, determining the state estimation of the turning maneuvering target at the r moment
Wherein,
representing the position and velocity estimates, and,representing the turn rate estimate.
To achieve the above object, the present invention also provides a state estimation device of a turning maneuver target, the device including:
the turning rate estimation module is used for obtaining the turning rate estimation of the turning maneuvering target by utilizing the position measurement data of the N different moments;
a position and velocity estimation module to obtain a position and velocity estimate of the cornering motor target using the position measurement data and the cornering rate estimate;
and the target state acquisition module is used for obtaining the state estimation of the turning maneuvering target based on the turning rate estimation and the position and speed estimation.
Further, the turning rate estimation module is specifically configured to:
setting the position measurement data of the turning maneuvering target at N different moments asWherein k is 1,2, …, N,an x component representing position measurement data of the turning maneuver object at time k,a y-component, t, representing position measurement data of the turning maneuver object at time kkRepresents the time at time k;
using position measurement data at three different successive timesAndobtaining the turning rate omega of the turning maneuvering target at the moment ii；
Wherein,
i＝1,2,…,N-2，sgn(ai) Represents the variable aiSymbol of
Based on the turning rate omegaiWherein i is 1,2, …, N-2, determining a turn rate estimate for the turning maneuver target as
Further, the position and velocity estimation module is specifically configured to:
combining the position measurement data of the N different time instants into a column vector myWhereinsuperscript T represents the transpose of a matrix or vector;
representing the position and velocity of the turning maneuver target at time r as a column vector ξrWhereinr＝1,2,…,N，xrx component, y representing the target position at time rrA y-component representing the target position at time r,an x component representing the speed of movement of the object at said time r,a y component representing the speed of movement of the target at time r;
based on the column vector myAnd the turning rate estimationDetermining a position and velocity estimate of the cornering maneuver target at time r as
Wherein,
further, the target state obtaining module is specifically configured to:
estimating the turning rateAnd said position and velocity estimatesMerging to determine the state estimation of the turning maneuvering target at the r moment
Wherein,
representing the position and velocity estimates, and,representing the turn rate estimate.
The invention provides a state estimation method of a turning maneuvering target, which is characterized in that position measurement data of N different moments are utilized to obtain turning rate estimation of the turning maneuvering target, position and speed estimation of the turning maneuvering target are obtained by utilizing the position measurement data and the turning rate estimation, and state estimation of the turning maneuvering target is obtained based on the turning rate estimation and the position and speed estimation. Compared with the prior art, the method and the device have the advantage that the state of the turning maneuvering target can be effectively estimated by combining the turning rate estimation and the position and speed estimation of the turning maneuvering target.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention.
FIG. 1 is a flowchart illustrating a method for estimating a state of a turning maneuver target according to a first embodiment of the present invention;
FIG. 2 is a schematic diagram illustrating a detailed functional block diagram of a state estimation apparatus for a turning maneuver target according to a second embodiment of the present invention;
fig. 3 is a schematic diagram of 4 position measurement data with a sampling period T of 2 s;
FIG. 4 is a state estimate of the cornering maneuver target at time t-0 s and a true state value of the cornering maneuver target at time t-0 s;
fig. 5 shows the state estimation mean value of the turning maneuver target at the time t equal to 0s and the true state value of the turning maneuver target at the time t equal to 0s, which are obtained by performing 100 Monte Carlo experiments.
Detailed Description
In order to make the objects, features and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In order to explain the technical means of the present invention, the following description will be given by way of specific examples.
Referring to fig. 1, a flow chart of a method for estimating a state of a turning maneuver target according to a first embodiment of the present invention is shown, which includes the following steps:
s101, obtaining turning rate estimation of a turning maneuvering target by utilizing position measurement data at N different moments;
the step S101 specifically includes:
setting the position measurement data of the turning maneuvering target at N different moments asWherein k is 1,2, …, N,an x component representing position measurement data of the turning maneuver object at time k,a y-component, t, representing position measurement data of the turning maneuver object at time kkRepresents the time at time k;
using position measurement data at three different successive timesAndobtaining the turning rate omega of the turning maneuvering target at the moment ii；
Wherein,
i＝1,2,…,N-2，sgn(ai) Represents the variable aiSymbol of
Based on the turning rate omegaiWherein i is 1,2, …, N-2, determining a turn rate estimate for the turning maneuver target as
Step S102, utilizing the position measurement data and the turning rate estimation to obtain position and speed estimation of the turning maneuvering target;
the step S102 specifically includes:
combining the position measurement data of the N different time instants into a column vector myWhereinsuperscript T represents the transpose of a matrix or vector;
representing the position and velocity of the turning maneuver target at time r as a column vector ξrWhereinr＝1,2,…,N，xrx component, y representing the target position at time rrA y-component representing the target position at time r,an x component representing the speed of movement of the object at said time r,a y component representing the speed of movement of the target at time r;
based on the column vector myAnd the turning rate estimationDetermining a position and velocity estimate of the cornering maneuver target at time r as
Wherein,
and S103, obtaining the state estimation of the turning maneuvering target based on the turning rate estimation and the position and speed estimation.
The step S103 specifically includes:
estimating the turning rateAnd said position and velocity estimatesMerging to determine the state estimation of the turning maneuvering target at the r moment
Wherein,
representing the position and velocity estimates, and,representing the turn rate estimate.
In summary, the turn rate estimate for the turning maneuver target is obtained using the position measurement data for the N different times, the position and velocity estimates for the turning maneuver target are obtained using the position measurement data and the turn rate estimate, and the state estimate for the turning maneuver target is obtained based on the turn rate estimate and the position and velocity estimates. Compared with the prior art, the method and the device have the advantage that the state of the turning maneuvering target can be effectively estimated by combining the turning rate estimation and the position and speed estimation of the turning maneuvering target.
As a second embodiment of the present invention, as shown in fig. 2, the present invention also provides a state estimation device of a turning maneuver target, the device including:
a turning rate estimation module 10, configured to obtain a turning rate estimation of the turning maneuver target by using the position measurement data at the N different time instants;
a position and velocity estimation module 20 for obtaining a position and velocity estimate of the turning maneuver target using the position measurement data and the turn rate estimate;
a target state obtaining module 30, configured to obtain a state estimate of the turning maneuver target based on the turning rate estimate and the position and speed estimates.
The turning rate estimation module 10 is specifically configured to:
setting the position measurement data of the turning maneuvering target at N different moments asWherein k is 1,2, …, N,an x component representing position measurement data of the turning maneuver object at time k,a y-component, t, representing position measurement data of the turning maneuver object at time kkRepresents the time at time k;
using position measurement data at three different successive timesAndobtaining the turning rate omega of the turning maneuvering target at the moment ii；
Wherein,
i＝1,2,…,N-2，sgn(ai) Represents the variable aiSymbol of
Based on the turning rate omegaiWherein i is 1,2, …, N-2, determining a turn rate estimate for the turning maneuver target as
The position and velocity estimation module 20 is specifically configured to:
combining the position measurement data of the N different time instants into a column vector myWhereinsuperscript T represents the transpose of a matrix or vector;
representing the position and velocity of the turning maneuver target at time r as a column vector ξrWhereinr＝1,2,…,N，xrx component, y representing the target position at time rrA y-component representing the target position at time r,an x component representing the speed of movement of the object at said time r,a y component representing the speed of movement of the target at time r;
based on the column vector myAnd the turning rate estimationDetermining a position and velocity estimate of the cornering maneuver target at time r as
Wherein,
the target state obtaining module 30 is specifically configured to:
estimating the turning rateAnd said position and velocity estimatesMerging to determine the state estimation of the turning maneuvering target at the r moment
Wherein,
representing the position and velocity estimates, and,representing the turn rate estimate.
As an example of the present invention, consider a turning maneuver target for making a turning maneuver in two-dimensional space, the turning maneuver target having an initial position [ x ]0,y0]T＝[600m,800m]TAt an initial velocity ofThe turn rate is 5 deg/s, the sensor measures the target position with the sampling period of 2s, the position measurement data is the target position plus the measurement noise, and the sigma is usedxRepresenting the standard deviation, σ, of the measurement noise of the sensor in the x-directionyThe standard deviation of the measurement noise of the sensor in the y-direction is represented by: sigmax＝σy1 m. The sensor measures the target at T-0, T-T, T-2T, and T-3T, resulting in 4 position measurements, the position measurements of the sensor at 4 different times being shown in fig. 3.
Fig. 4 shows that the present invention processes the 4 position measurement data in fig. 3 to obtain the state estimation and the real target state value of the turning maneuver target at the time t equal to 0 s.
Fig. 5 shows the state estimation mean value and the real target state value of the turning maneuver target at the time t ═ 0s, which are obtained by performing 100 Monte Carlo (MC) experiments. The experimental results shown in fig. 4 and 5 indicate that the method of the present invention can obtain a more accurate and reliable target state estimation, and the state estimation of the method is very close to the real target state value.
In summary, the turn rate estimate for the turning maneuver target is obtained using the position measurement data for the N different times, the position and velocity estimates for the turning maneuver target are obtained using the position measurement data and the turn rate estimate, and the state estimate for the turning maneuver target is obtained based on the turn rate estimate and the position and velocity estimates. Compared with the prior art, the method and the device have the advantage that the state of the turning maneuvering target can be effectively estimated by combining the turning rate estimation and the position and speed estimation of the turning maneuvering target.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the modules is merely a logical division, and in actual implementation, there may be other divisions, for example, multiple modules or components may be combined or integrated into another system, or some features may be omitted, or not implemented. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or modules, and may be in an electrical, mechanical or other form.
The modules described as separate parts may or may not be physically separate, and parts displayed as modules may or may not be physical modules, may be located in one place, or may be distributed on a plurality of network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.
In addition, functional modules in the embodiments of the present invention may be integrated into one processing module, or each of the modules may exist alone physically, or two or more modules are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode.
The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
It should be noted that, for the sake of simplicity, the above-mentioned method embodiments are described as a series of acts or combinations, but those skilled in the art should understand that the present invention is not limited by the described order of acts, as some steps may be performed in other orders or simultaneously according to the present invention. Further, those skilled in the art will appreciate that the embodiments described in the specification are presently preferred and that no acts or modules are necessarily required of the invention.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In view of the above description of the method and apparatus for estimating the state of a turning maneuver object provided by the present invention, those skilled in the art will appreciate that the concepts of the embodiments of the present invention may be modified in the specific implementation manners and applications, and in summary, the disclosure should not be construed as limiting the invention.
Claims (4)
1. A method of estimating a state of a turning maneuver target, the method comprising the steps of:
step 1, obtaining turning rate estimation of a turning maneuvering target by using position measurement data of N different moments;
the obtaining a turn rate estimate for the turning maneuver target using the position measurement data at the N different times comprises:
setting the position measurement data of the turning maneuvering target at N different moments asWherein k is 1,2, …, N,an x component representing position measurement data of the turning maneuver object at time k,a y-component, t, representing position measurement data of the turning maneuver object at time kkRepresents the time at time k;
using position measurement data at three different successive timesAndobtaining the turning rate omega of the turning maneuvering target at the moment ii；
Wherein,
i＝1,2,…,N-2，sgn(ai) Represents the variable aiSymbol of
Based on the turning rate omegaiWherein i is 1,2, …, N-2, determining a turn rate estimate for the turning maneuver target as
Step 2, utilizing the position measurement data and the turning rate estimation to obtain the position and speed estimation of the turning maneuvering target;
the obtaining a position and velocity estimate of the turning maneuver target using the position measurement data and the turn rate estimate comprises:
combining the position measurement data of the N different time instants into a column vector myWhereinsuperscript T represents the transpose of a matrix or vector;
representing the position and velocity of the turning maneuver target at time r as a column vector ξrWhereinr＝1,2,…,N，xrx component, y representing the target position at time rrA y-component representing the target position at time r,an x component representing the speed of movement of the object at said time r,a y component representing the speed of movement of the target at time r;
based on the column vector myAnd the turning rate estimationDetermining a position and velocity estimate of the cornering maneuver target at time r as
Wherein,
and 3, obtaining the state estimation of the turning maneuvering target based on the turning rate estimation and the position and speed estimation.
2. The method according to claim 1, wherein step 3 specifically comprises:
estimating the turning rateAnd said position and velocity estimatesMerging to determine the state estimation of the turning maneuvering target at the r moment
Wherein,
representing the position and velocity estimates, and,representing the turn rate estimate.
3. A state estimation device of a turning maneuver target, characterized by comprising:
the turning rate estimation module is used for obtaining the turning rate estimation of the turning maneuvering target by utilizing the position measurement data of N different moments;
the obtaining a turn rate estimate for the turning maneuver target using the position measurement data at the N different times comprises:
setting the position measurement data of the turning maneuvering target at N different moments asWherein k is 1,2, …, N,an x component representing position measurement data of the turning maneuver object at time k,a y-component, t, representing position measurement data of the turning maneuver object at time kkRepresents the time at time k; using position measurement data at three different successive timesAndobtaining the turning rate omega of the turning maneuvering target at the moment ii；
Wherein,
i＝1,2,…,N-2，sgn(ai) Represents the variable aiSymbol of
Based on the turning rate omegaiWherein i is 1,2, …, N-2, determining a turn rate estimate for the turning maneuver target as
A position and velocity estimation module to obtain a position and velocity estimate of the cornering motor target using the position measurement data and the cornering rate estimate;
the obtaining a position and velocity estimate of the turning maneuver target using the position measurement data and the turn rate estimate comprises:
combining the position measurement data of the N different time instants into a column vector myWhereinsuperscript T represents the transpose of a matrix or vector;
representing the position and velocity of the turning maneuver target at time r as a column vector ξrWhereinr＝1,2,…,N，xrx score representing target position at time rAmount, yrA y-component representing the target position at time r,an x component representing the speed of movement of the object at said time r,a y component representing the speed of movement of the target at time r;
based on the column vector myAnd the turning rate estimationDetermining a position and velocity estimate of the cornering maneuver target at time r as
Wherein,
and the target state acquisition module is used for obtaining the state estimation of the turning maneuvering target based on the turning rate estimation and the position and speed estimation.
4. The apparatus of claim 3, wherein the target state acquisition module is specifically configured to:
estimating the turning rateAnd said position and velocity estimatesMerging to determine the turning maneuvering targetThe state at time r is estimated as
Wherein,
representing the position and velocity estimates, and,representing the turn rate estimate.
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| WO2018232740A1 (en) * | 2017-06-23 | 2018-12-27 | 深圳大学 | State estimation method and device for target performing turn maneuver |
| WO2019218241A1 (en) * | 2018-05-16 | 2019-11-21 | 深圳大学 | Method and system for estimating status of turning maneuvering target in three-dimensional space |
| CN108917745B (en) * | 2018-05-16 | 2019-10-11 | 深圳大学 | A kind of method for estimating state and system of three-dimensional space turning maneuvering target |
| CN108921870B (en) * | 2018-07-03 | 2019-08-09 | 深圳大学 | The track initial method and device of three-dimensional space turning maneuvering target |
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