基于乘性噪声的非线性扩展目标跟踪方法

兰州理工大学学报 ›› 2025, Vol. 51 ›› Issue (6): 99-106.

• 自动化技术与计算机技术 • 上一篇下一篇

基于乘性噪声的非线性扩展目标跟踪方法

陈辉^*1, 刘玉¹, 连峰²

1.兰州理工大学自动化与电气工程学院, 甘肃兰州 730050;
2.西安交通大学自动化科学与工程学院, 陕西西安 710049

收稿日期:2023-02-12 发布日期:2025-12-31
通讯作者: 陈辉(1978-),男,山西闻喜人,博士,教授,博导.Email:huich78@hotmail.com
基金资助:
国家自然科学基金(62163023,61873116,62366031,62363023),甘肃省基础研究创新群体(25JRRA058),中央引导地方科技发展资金(25ZYJA040),甘肃省重点人才项目(2024RCXM86),甘肃省军民融合发展专项资金

Nonlinear extended object tracking method based on multiplicative noise

CHEN Hui¹, LIU Yu¹, LIAN Feng²

1. School of Automation and Electrical Engineering, Lanzhou University of Technology, Lanzhou 730050, China;
2. School of Automation Science and Engineering, Xi’an Jiaotong University, Xi’an 710049, China

Received:2023-02-12 Published:2025-12-31

摘要/Abstract

摘要： 针对非线性扩展目标跟踪问题,提出一种基于乘性噪声的非线性扩展目标跟踪方法.首先将多普勒距离率纳入雷达非线性量测方程中,通过量测转换将方向和径距转换到笛卡尔坐标系中,构建伪距离率处理极坐标中的距离率,然后除去转换偏差.此后,采用匹配线性化(ML)的方法详细推导最小均方误差估计意义下的最优线性化方程,保留原始非线性量测二阶中心距中的扩展信息,使得线性化后的量测值和原量测值具有相同的二阶中心距,使用卡尔曼滤波公式获得更新的封闭形式解.进一步的,使用高斯瓦瑟斯坦距离(GWD)评测扩展目标的跟踪性能. 最后构造扩展目标和群目标的跟踪实验,验证了该方法的有效性.

关键词: 扩展目标跟踪, 乘性噪声, 多普勒距离率, 量测转换, 匹配线性化

Abstract: Aiming at the nonlinear extended object tracking problem, a nonlinear extended object tracking method based on multiplicative noise is proposed. First, the Doppler range rate is included in the radar nonlinear measurement equation. Through measurement conversion, the direction and diameter distance are converted into the Cartesian coordinate system, and pseudo range rate processing is used to handle the distance in the polar coordinate, followed by the removal of the conversion deviation. Then, a matched linearization approach is applied to deduce the optimal linearized equation under the minimum mean square error, retaining the extended information in the original nonlinear quantitative measurement of the second-order central distance. This ensures that the linearized measurement has the same second-order central moment as the original measurement. The updated closed form solution was obtained by Kalman filter formula. Furthermore, the Gaussian Wasserstein distance is used to evaluate the performance of extended object tracking. Finally, the effectiveness of the proposed algorithm is verified by the extended object tracking and group object tracking experiments.

Key words: extended object tracking, multiplicative noise, Doppler range rate, measurement conversion, matched linearization

中图分类号:

TP274

陈辉, 刘玉, 连峰. 基于乘性噪声的非线性扩展目标跟踪方法[J]. 兰州理工大学学报, 2025, 51(6): 99-106.

CHEN Hui, LIU Yu, LIAN Feng. Nonlinear extended object tracking method based on multiplicative noise[J]. Journal of Lanzhou University of Technology, 2025, 51(6): 99-106.

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基于乘性噪声的非线性扩展目标跟踪方法

Nonlinear extended object tracking method based on multiplicative noise

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