應用最佳估測原理於雷達追?系統之研究 胡國昌、陳雍宗
E-mail: [email protected]
摘 要
在雷達追蹤系統中，如何有效的掌握目標運動狀態是非常重要的，其中以變速度檢測技術以及資料結合技術為影響目標追 蹤成效以及準確率的重要關鍵。變速度檢測技術在於當目標以變加速度運動時，此時會造成量測誤差變大，需要另外給予 濾波器補償參數，以免誤差過大造成追蹤失敗。雷達在做多目標追蹤時，為了正確的耦合目標的估計值以及量測值，需要 以資料結合技術加以判斷，以減少目標追蹤所造成的誤差。除此之外，在雷達追蹤系統中，為了得到最佳的估測結果，本 論文提出應用最佳估測原理於雷達追?系統做目標追蹤，以增加追?系統的調適性及反應速度。藉此輔助目標追蹤，增加雷 達追蹤目標的判斷能力，以求得更精確的量測結果。
關鍵詞 : 變速度檢測技術、資料結合技術、最佳估測原理 目錄
封面內頁 簽名頁 授權書．．．．．．．．．．．．．．．．．．．．．．．．．iii 中文摘要．．．．．．．．．．．．
．．．．．．．．．．．．iv 英文摘要．．．．．．．．．．．．．．．．．．．．．．．．v 誌謝．．．．．．．．．
．．．．．．．．．．．．．．．．．vi 目錄．．．．．．．．．．．．．．．．．．．．．．．．．．vii 圖目錄．．．
．．．．．．．．．．．．．．．．．．．．．．ix 表目錄．．．．．．．．．．．．．．．．．．．．．．．．．xi 第 一章 緒論．．．．．．．．．．．．．．．．．．．．．．1 1.1 研究動機．．．．．．．．．．．．．．．．．．1 1.2 研究背景及目的．．．．．．．．．．．．．．．1 1.3 研究方法．．．．．．．．．．．．．．．．．．3 1.4 論文架構
．．．．．．．．．．．．．．．．．．4 第二章 最佳估測原理．．．．．．．．．．．．．．．．．．5 2.1 前言．．
．．．．．．．．．．．．．．．．．．5 2.2 數學模式．．．．．．．．．．．．．．．．．．6 2.3 卡門濾波器．．．
．．．．．．．．．．．．．．8 2.4 擴展式卡門濾波器．．．．．．．．．．．．．．10 第三章 應用類神經網路於資 料相關結合理論．．．．．．．．13 3.1 前言．．．．．．．．．．．．．．．．．．．．13 3.2 多目標追蹤程序．．．
．．．．．．．．．．．．14 3.2.1 追蹤起始．．．．．．．．．．．．．．．．14 3.2.2 追蹤更新．．．．．．．．．．
．．．．．．15 3.2.3 追蹤移除．．．．．．．．．．．．．．．．16 3.3 掃瞄區域(Gate)預測．．．．．．．．．．．．
．17 3.4 資料相關結合技術．．．．．．．．．．．．．．19 第四章 資料相關結合技術．．．．．．．．．．．．．．
．．23 4.1 前言．．．．．．．．．．．．．．．．．．．．23 4.2 變速度追蹤理論．．．．．．．．．．．．．．．23 4.3 適應性多模預估器．．．．．．．．．．．．．．26 第五章 模擬結果分析．．．．．．．．．．．．．．．．．
．30 5.1 電腦模擬．．．．．．．．．．．．．．．．．．30 5.2 電腦模擬結果分析．．．．．．．．．．．．．．31 第 六章 結論．．．．．．．．．．．．．．．．．．．．．．44 參考文獻．．．．．．．．．．．．．．．．．．．．．
．．．45 圖目錄 圖2.1 卡門濾波器示意圖．．．．．．．．．．．．．．．．．5 圖3.1 多目標系統流程圖．．．．．．．
．．．．．．．．．．14 圖3.2 追蹤初始相互關係圖．．．．．．．．．．．．．．．．15 圖3.3 執行追蹤預估示意圖．
．．．．．．．．．．．．．．．16 圖3.4 整體追蹤程序流程圖．．．．．．．．．．．．．．．．17 圖3.5 目標追蹤掃 瞄區域預測示意圖．．．．．．．．．．．．17 圖3.6 CHNN目標軌跡與量測值示意圖．．．．．．．．．．．22 圖4.1 適應性多模預估器示意圖．．．．．．．．．．．．．．27 圖5.1 ㄧ目標追蹤模擬結果(演算法ㄧ) ．．．．．．．．．．
．32 圖5.2 ㄧ目標追蹤模擬結果(演算法二) ．．．．．．．．．．32 圖5.3 ㄧ目標追蹤模擬結果(演算法三) ．．．．．．．
．．．33 圖5.4 ㄧ目標追蹤位置及速度誤差(演算法ㄧ) ．．．．．．．．33 圖5.5 ㄧ目標追蹤位置及速度誤差(演算法二) ．
．．．．．．．34 圖5.6 ㄧ目標追蹤位置及速度誤差(演算法三) ．．．．．．．．34 圖5.7 二目標追蹤模擬結果(演算法ㄧ)
．．．．．．．．．．．35 圖5.8 二目標追蹤模擬結果(演算法二) ．．．．．．．．．．．35 圖5.9 二目標追蹤模擬結果(
演算法三) ．．．．．．．．．．36 圖5.10 二目標追蹤位置及速度誤差(演算法ㄧ) ．．．．．．．36 圖5.11 二目標追蹤位 置及速度誤差(演算法二) ．．．．．．．37 圖5.12 二目標追蹤位置及速度誤差(演算法三) ．．．．．．．37 圖5.13 四目標 追蹤模擬結果(演算法ㄧ) ．．．．．．．．．．38 圖5.14 四目標追蹤模擬結果(演算法二) ．．．．．．．．．．38 圖5.15 四目標追蹤模擬結果(演算法三) ．．．．．．．．．．39 圖5.16 四目標追蹤位置及速度誤差(演算法ㄧ) ．．．．．．．39 圖5.17 四目標追蹤位置及速度誤差(演算法二) ．．．．．．．40 圖5.18 四目標追蹤位置及速度誤差(演算法三) ．．．．．
．．40 表目錄 表5.1 追蹤目標初始值．．．．．．．．．．．．．．．．．．41 表5.2 目標變速度設定表．．．．．．．
．．．．．．．．．．41 表5.3 ㄧ目標追蹤模擬結果(演算法ㄧ) ．．．．．．．．．．．41 表5.4 ㄧ目標追蹤模擬結果(演 算法二) ．．．．．．．．．．．41 表5.5 ㄧ目標追蹤模擬結果(演算法三) ．．．．．．．．．．．42 表5.6 二目標追蹤模
擬結果(演算法ㄧ) ．．．．．．．．．．．42 表5.7 二目標追蹤模擬結果(演算法二) ．．．．．．．．．．．42 表5.8 二目 標追蹤模擬結果(演算法三) ．．．．．．．．．．．42 表5.9 四目標追蹤模擬結果(演算法ㄧ) ．．．．．．．．．．．43 表5.10 四目標追蹤模擬結果(演算法二) ．．．．．．．．．．43 表5.11 四目標追蹤模擬結果(演算法三) ．．．．．．．．
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