基于雷达数字孪生的水上多目标跟踪方法研究

雷达的采样数据经过多目标跟踪处理后可为无人艇提供障碍状态,以保障无人艇的安全.对雷达数字孪生的水上多目标跟踪方法进行了研究.首先,以雷达采样的真实数据为研究对象,建立雷达观测数据多目标跟踪算法全流程处理策略,提出了雷达和惯性导航/全球定位组合导航的采样数据的时钟二次同步对准算法;然后,建立了雷达数据的起始航迹、暂时航迹...

Research on Water Multi-target Tracking Method Based on Digital Twin of Radar

After multi-target tracking processing,the sampling data of radar can provide obstacle state for unmanned surface vehicle,so as to ensure the safety of unmanned surface vehicle.A Water multi-target tracking method based on digital twin of radar is studied.Firstly,taking the real data sampled by radar as the research object,the whole process processing strategy of radar observation data multi-target tracking algorithm is established,and the clock secondary synchronous alignment algorithm of radar and inertial navigation/global positioning integrated navigation sampling data is proposed.Then,the three-level dynamic matching track management strategy of radar data,including initial track,temporary track and stable track,is established.Finally,the noise reduction of stable track is carried out based on bidirectional fitting method.The digital twin simulation test of the algorithm is carried out through the real sampling data,and compared with target tracking algorithm using polynomial fitting algorithm for state estimation to verify the effectiveness and stability of the digital twin strategy.