| 引用本文: | 郭云飞,任昕.一种极坐标下基于高斯过程的扩展目标跟踪方法[J].控制理论与应用,2020,37(7):1501~1510.[点击复制] |
| GUO Yun-fei,REN Xin.A Gaussian process based extended target tracking method in polar coordinates[J].Control Theory and Technology,2020,37(7):1501~1510.[点击复制] |
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| 一种极坐标下基于高斯过程的扩展目标跟踪方法 |
| A Gaussian process based extended target tracking method in polar coordinates |
| 摘要点击 1878 全文点击 703 投稿时间：2019-07-19 修订日期：2020-02-04 |
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| DOI编号 10.7641/CTA.2020.90589 |
| 2020,37(7):1501-1510 |
| 中文关键词 高斯过程 扩展目标跟踪 极坐标系 概率数据关联 无相关无偏转换 |
| 英文关键词 Gaussian process extended target tracking polar coordinate system probabilistic data association decorrelated unbiased converted measurement |
| 基金项目 浙江省自然科学基金重点项目(LZ20F010002), 国家自然科学基金项目(61871166)资助. |
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| 中文摘要 |
| 对于使用雷达系统的扩展目标跟踪, 通常将原始测量值从极坐标转换为笛卡尔坐标, 然后馈入估计器. 但
其转换测量期望值在目标真实方位上存在偏差. 另外, 测量误差协方差的计算取决于实践中不可用的真实状态. 针
对这一不足, 本文提出了一种在概率数据关联框架下基于高斯过程的扩展目标跟踪方法. 该方法首先, 直接在极坐
标中对测量函数进行建模, 并求解出测量噪声协方差; 其次, 建立扩展目标的联合跟踪门对测量进行筛选, 并获得测
量新息; 最后, 计算关联事件概率并估计扩展目标的状态. 仿真结果表明了该方法的有效性. |
| 英文摘要 |
| For the extended target tracking with radar system, the raw measurements are usually converted from polar
to Cartesian coordinate and fed to the estimator. However, there is a bias in the expectation of the converted measurement
along the bearing. In addition, the calculation of measurement error covariance depends on the true state that is unavailable
in practice. In order to address this problem, a Gaussian process based extended target tracking method in the probabilistic
data association framework is proposed. First, the measurement function is modeled directly in polar coordinate and the
measurement noise covariance is given. Second, the validation gate of the extended target is established and the measurement
innovation is obtained with the validated measurements. Last, the association event probability is calculated and the
state of the extended target is estimated. Simulation results show the effectiveness of the proposed method. |
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