雷達適應性掃描速率追蹤系統之研究 余俊慶、鍾翼能
E-mail: [email protected]
摘 要
本論文希望發展一個改良式的追蹤演算法，去追蹤變速度目標。傳統的追蹤系統使用固定式的掃描速率，在估算及預測目 標軌跡時，假若掃描速率過快，會造成系統運算負荷過重，假若使用過慢的掃描速率，容易造成系統的誤差增大，因此，
希望推導一套可以降低系統運算量的演算方法，同時亦能維持系統效能，這個架構主要包含適應性掃描速率追蹤演算 法(ADAPTIVE SAMPLING RATE TRACKING ALGORITHM)，配合一個適應性擴展型卡門濾波器的技術，並利
用1-STEP CONDITIONAL MAXIMUM LIKELIHOOD作為資料結合的技術。經由這個方式，將可以降低因目標變速度運 動所產生的鉅大誤差，且減少系統計算量，並使系統可以獲得較佳的追蹤效能。 為了驗證本論文所提出的追蹤模式能真正 地改善追蹤系統的效能，使用三種不同的追蹤演算法則及假設多個不同的飛行軌跡去對目標追蹤做詳細的模擬分析與比較
。我們可以確信本論文所提出的方法，將可提昇追蹤效能，並且獲得較佳的追蹤結果。
關鍵詞 : 適應性掃描速率追蹤演算法、擴展型卡門濾波器、變速度運動 目錄
第一章 緒 論--P1 1.1 研究動機--P1 1.2 研究目的--P2 1.3 研究方法--P2 1.4 研究背景--P4 1.5 論文章節簡介--P5 第二章 卡 門濾波器--P7 2.1 簡介--P7 2.2 卡門濾波器之數學導論--P8 2.2.1 卡門濾波器之系統狀態方程式定義--P8 2.2.2 卡門濾波器之數 學運算--P10 2.2.3 擴展型卡門濾波器--P13 2.3 卡門濾波器理論的相關特性--P17 第三章 資料結合相關技術--P20 3.1 PDA理 論--P21 3.2 JPDA理論--P24 3.3 ONE-STEP CONDITIONAL MAXIMUM LIKELIHOOD 理論--P26 第四章 適應性掃描速 率演算法--P29 4.1雷達系統的基本架構--P29 4.2 追蹤系統之數學模式--P30 4.2.1 模式定義--P30 4.2.2 追蹤系統之變速度偵測 與適應性程序--P33 4.3 適應性掃描速率演算法之推導--P36 第五章 電腦模擬分析與討論--P40 5.1單目標追蹤模擬分析--P42 5.1.1 定速度單目標追蹤分析--P.42 5.1.2 變速度單目標追蹤分析--P46 5.2雙目標追蹤模擬分析--P51 5.2.1 定速度雙目標追蹤 分析--P52 5.2.2 變速度雙目標追蹤分析--P56 5.3變速度多目標追蹤分析--P61 5.4圓周運動目標追蹤模擬分析--P66 第六章 結 論--P71 參考文獻--P72
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