激光运动目标空间定位与KF算法跟踪研究

发布时间：2018-10-13 12:47

【摘要】：由于激光相对于微波的特殊优势,使得激光雷达在测距精度、测角精度、对抗和抗干扰方面具有特殊优势。激光扫描探测雷达主要功能涉及到既定空域扫描、运动目标定位和跟踪等,而目标定位能力和跟踪能力是激光雷达系统的核心功能指标。对运动目标的精确定位和有效跟踪是激光雷达系统的重要研究内容。本论文首先概括介绍了激光雷达测向定位方法,同时也简要介绍了运动目标跟踪滤波的各种算法。针对运动目标采用小角度高速扫描探测激光雷达系统,设计了基于振镜的激光雷达扫描定位系统。综合探测系统结构特点,详细分析了平台级和系统级别的空间配准方案,分别推导了平台内部和平台间的空间坐标转换融合关系式。设计了基于振镜的回波探测光学系统和直接回波探测光学系统,确定了两种探测系统的定位方式,概括介绍了各自系统的工作流程。详细介绍了运动目标的典型跟踪滤波算法,对在指定空域高速运动的单模型运动目标进行了KF(卡尔曼滤波)算法的详细推导,并通过仿真分析噪声及运算次数对算法的影响,之后仿真分析了滤波算法所得轨迹与目标量测轨迹的误差。结果表明,针对既定的目标运动模型和运动空域,KF算法可以有效实现对运动目标的轨迹预判,基于运动目标轨迹预判信息,跟踪随动系统实现持续跟踪。结合一定探测系统要求,给出了振镜、随动云台的设计依据及各自的详细参数,针对上述部件对目标定位与跟踪功能的实现情况进行了简要介绍。介绍了激光发射扫描探测系统的实物构成、控制软件和运动目标模拟器。最后对系统定位和跟踪功能进行了简要测试,测试了振镜定位精度,并对随动云台进行了单步跟踪实验,并将结果进行了分析。
[Abstract]:Because of the special advantage of laser compared with microwave, lidar has special advantages in ranging accuracy, angle measuring accuracy, countermeasure and anti-jamming. The main functions of laser scanning detection radar are related to the fixed spatial scanning, moving target location and tracking, and the target location ability and tracking ability are the core function indexes of the lidar system. Accurate location and effective tracking of moving targets are important research contents of lidar system. In this paper, the method of lidar direction-finding and the algorithms of moving target tracking and filtering are introduced. A scanning and locating system based on vibrating mirror is designed for moving target using small angle and high speed scanning and detecting lidar system. Based on the structural characteristics of the detection system, the spatial registration schemes at the platform level and the system level are analyzed in detail, and the fusion relations of the spatial coordinate transformation between the platform and the platform are derived respectively. The echo detection optical system and the direct echo detection optical system based on vibration mirror are designed. The positioning modes of the two detection systems are determined, and the work flow of each system is summarized. The typical tracking filtering algorithm of moving target is introduced in detail. The KF (Kalman filter) algorithm is derived for the single model moving target moving at specified high speed in airspace. The influence of noise and the number of operations on the algorithm is analyzed by simulation. Then, the error between the trajectory obtained by the filtering algorithm and the trajectory measured by the target is simulated and analyzed. The results show that the KF algorithm can effectively predict the trajectory of the moving target according to the target motion model and the motion airspace. Based on the trajectory prediction information of the moving target, the tracking and following system can realize the continuous tracking. According to the requirements of a certain detection system, the design basis and detailed parameters of the vibrating mirror and the following cloud head are given, and the realization of the target location and tracking function of the above parts is briefly introduced. The object structure, control software and motion target simulator of laser emission scanning detection system are introduced. Finally, the positioning and tracking functions of the system are briefly tested, the positioning accuracy of the vibrating mirror is tested, and the single-step tracking experiment of the following cloud head is carried out, and the results are analyzed.
【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】：2016
【分类号】：TN958.98

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