The Estimation And Error Correction For A Target Tracking System 胡澄清、鍾翼能
E-mail: 9223470@mail.dyu.edu.tw
ABSTRACT
In a radar system, it usually has more measurement plots than the number of target tracks because of the complicated tracking environment and noise outsides. The key developments of this subjest are association and maneuvering target detection algorithm. In this thesis, the author intends to combine Data Association Algorithm and Adaptive Extended Kalman Filter, combines with the technical data of One-Step Conditional Maximum Likelihood. Via this approach, the tracking procedure and error estimation can be obtained. Target maneuvering productive great errors can be decreased and the tracking system will obtain better performace.
Keywords : Data Association ; Extended Kalman Filter ; Maneuvering Table of Contents
目錄 封面內頁 簽名頁 博碩士論文授權書………iii 中文摘要………
………iv 英文摘要………v 誌謝………
………vi 目錄………vii 圖目錄………
………ix 表目錄………xiv 第一章 緒 論 ………1 1.1 研究動機與背景 ………1 1.2 研 究方法與步驟 ………2 1.3 論文結構 ………3 第二章 雷達系統與濾波器之介紹………5 2.1雷達系統的原理與應用………
……5 2.2 濾波器原理………14 2.3卡門濾波器之系統模式定義 ………
…………16 2.3.1卡門濾波器之理論推導 ………18 2.3.2擴展型卡門濾波器 ………
………22 第三章 適應性追蹤理論 ………25 3.1 簡介………
………25 3.2多目標追蹤程序 ………25 3.2.1追蹤起始 ………
………26 3.2.2追蹤相互關係 ………26 3.2.3追蹤更新 ………
………27 3.2.4軌跡刪除 ………27 3.3 數學模式的建立…………
………28 3.4 變速度追蹤理論………31 第四章 相關資料結合技 術 ………35 4.1資料相關結合 ………35 4.2 PDA理論 ……
………36 4.3 One-step conditional maximum likelihood理論 ………42 第五章 電腦模擬 分析與討論………45 5.1定速度雙目標追蹤模擬分析 ………46 5.2變速度雙 目標追蹤模擬分析 ………65 第六章 結論………101 參考 文獻………102
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