Maneuver Detection and Tracking with the Radar Rate Measurement
|School||Harbin Institute of Technology|
|Course||Information and Communication Engineering|
|Keywords||Doppler measuremet maneuvering target tracking converted measurement Kalman filter with debiasing interacting multiple models|
The maneuvering target tracking is a research exercise to the tracking target can’t accurate description of target sport estimate the problem. The subject has the extensive application in for use by the military and civilian realms. With the high-tech developing quickly, various applied systems have been asking the theoretic development for more and more complex desires.According to previous research, tracking maneuvering targets is solved with only the position measurement (including the range measurement and the bearing measurement) in high frequency ground wave radar system. But because its accuracy is not good, tracking maneuvering targets is not solved very well. To this question, a new algorithm is developed to incorporate Doppler radar measurements into the two-dimensional CMKF-D in the tracking filter; A new statistic that is surrogate measurement of target acceleration with the Doppler radar measurement in the maneuvering detection.(1) Tracking maneuvering targetsFirstly, a pseudo measurement is constructed by the product of range and Doppler measurement to reduce the high nonlinearity of the Doppler measurements with respect to the state; then the consistent first two moments estimate of the converted measurement errors are derived by the nested conditioning method; finally, because the pseudo measurement is quadratic in the state, the second-order EKF is used to optimally implement the nonlinear tracking filtering, where the Cholesky factorization is used to decorrelate the converted position and pseudo measurement errors, thus the position and pseudo measurements can be sequentially processed to reduce the approximation error in the second-order EKF. Monte-Carlos simulation results show that the evaluated error is decreased and convergent velocity is accelerated when the radial velocity is introduced.(2) Maneuvering detectionTracking maneuvering targets with radar is complicated because radar can not measure target accelerations. We use the range rate measurement to calculate a new statistic that is a surrogate measurement of target acceleration under a coordinate turn model. A threshold test of the statistic turns out to be a reliable detector of a maneuver, and its receiver operating characteristic is found.At last, I give the result of the experiment and draw a conclusion on the development and design of the Visual C++ 2005 software, using the radar measurements.