摘要
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、稳定航迹三级动态匹配航迹管理策略;最后,基于双向拟合算法进行稳定航迹的降噪,通过真实采样数据对该算法进行数字孪生仿真测试,与运用多项式拟合算法进行状态估计的目标跟踪算法进行对比,验证了该数字孪生策略的有效性和稳定性。
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.
作者
徐凯凯
宋利飞
史晓骞
石正坤
孙昊
XU Kaikai;SONG Lifei;SHI Xiaoqian;SHI Zhengkun;SUN Hao(Key Laboratory of High-Performance Ship Technology,Wuhan University of Technology,Wuhan 430063,China;School of Naval Architecture,Ocean and Energy Power Engineering,Wuhan University of Technology,Wuhan 430063,China)
出处
《无人系统技术》
2022年第1期60-68,共9页
Unmanned Systems Technology
基金
国家自然科学基金(51809203)。
关键词
多目标跟踪
雷达数字孪生
关联门
航迹管理
双向拟合算法
均方根误差
无人艇
Multi-target Tracking
Digital Twin of Radar
Associated Gate
Track Management
Bidirectional Fitting Method
Root Mean Square Error
Unmanned Surface Vehicle
