运动目标激光探测的捕获概率与跟踪算法研究

发布时间：2018-05-31 18:35

本文选题：激光雷达 + 捕获概率　；参考：《西安电子科技大学》2014年硕士论文

【摘要】：激光雷达是依据激光光束照射到目标的散射信息来判断目标的位置、速度等参数的探测系统。激光雷达在对远距离的小目标进行探测时,与微波雷达相比在距离分辨率、角分辨率、抗干扰能力等方面具有一定优势。在以探测目标并对其跟踪为主的激光雷达探测系统中,对目标的捕获以及跟踪能力是衡量系统的重要指标。考虑到目标的运动轨迹不确定性,研究目标在不同轨迹运动情况下系统捕获目标的概率具有一定理论意义和应用意义。论文在介绍激光雷达的基本原理基础上,详细介绍激光雷达探测系统的组成、目标运动模型的选取以及激光束扫描方式的设计。从空间非合作目标匀速直线运动出发,用匀速圆弧运动模型近似模拟目标在曲线运动过程中的轨迹,开展捕获概率的研究。在矩形和矩形螺旋两种扫描方式下,推导了激光探测系统的捕获概率方程。在已有实验基础上研究探测概率,综合目标捕获概率与探测概率。系统分析了激光发散角、激光重频和扫描范围等参数下,系统捕获目标的概率。为探测系统各参数合理设计提供一定理论依据。开展了运动目标跟踪研究。采用Kalman滤波算法对目标在一定空域内运动的轨迹进行仿真和分析。结果表明,当目标运动模型和空域一定时,该算法可以实现对目标运动轨迹的估计、跟踪。随着滤波点数增加,估值后的目标轨迹与理论目标轨迹之间的误差逐渐减小直至重合。从激光扫描形成的探测区域出发,结合滤波误差,验证在最大误差情况下,该算法可以有效的对激光雷达伺服系统提供轨迹信息以控制扫描系统的转动。转动后系统扫描区域能覆盖信号,实现目标及时跟踪。最后,为进一步测试系统在不同扫描方式下的目标捕获性能,设计并搭建了运动目标模型和原理性实验系统。对匀速圆弧运动的目标进行捕获实验,就测量结果开展了分析讨论。
[Abstract]:Lidar is a detection system based on the scattering information of laser beam to the target to judge the position, velocity and other parameters of the target. Compared with microwave radar, lidar has some advantages in range resolution, angle resolution, anti-jamming ability and so on. In the lidar detection system, which mainly detects and tracks the target, the target capture and tracking ability is an important index to measure the system. Considering the uncertainty of target trajectory, it is of theoretical and practical significance to study the probability of target capture under different trajectory motion conditions. On the basis of introducing the basic principle of lidar, this paper introduces in detail the composition of laser radar detection system, the selection of target moving model and the design of laser beam scanning mode. Starting from the uniform linear motion of a non-cooperative space target, the uniform arc motion model is used to approximate simulate the trajectory of the target in the course of curve motion, and the acquisition probability is studied. In this paper, the acquisition probability equation of laser detection system is derived under rectangular and rectangular spiral scanning modes. Based on the existing experiments, the detection probability is studied, which combines the target capture probability with the detection probability. The probability of target acquisition is analyzed systematically under the parameters of laser divergence angle, laser repetition rate and scanning range. It provides a certain theoretical basis for the reasonable design of the parameters of the detection system. The research of moving target tracking is carried out. The Kalman filtering algorithm is used to simulate and analyze the trajectory of the target in a certain spatial domain. The results show that the algorithm can realize the estimation and tracking of the target trajectory when the target motion model and the spatial domain are fixed. As the number of filtering points increases, the error between the estimated target trajectory and the theoretical target trajectory decreases gradually until coincidence. Based on the detection region formed by laser scanning and the filtering error, it is verified that the algorithm can effectively provide trajectory information to the laser radar servo system and control the rotation of the scanning system under the condition of maximum error. After rotation, the scanning area can cover the signal and the target can be tracked in time. Finally, in order to further test the target capture performance of the system under different scanning modes, the moving target model and the principle experimental system are designed and built. The target of uniform arc motion is captured and the measurement results are analyzed and discussed.
【学位授予单位】：西安电子科技大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：TN958.98

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