超视距雷达数据处理技术研究
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摘要
超视距雷达(OTHR)是一种具有较大发展前景的高频雷达，以其覆盖距离远、覆盖面积大和抗隐身等优良特点受到各国学者的广泛关注。本文对超视距雷达背景下的数据关联理论进行了的研究，主要工作如下：
1．对超视距雷达及其数据处理系统的应用背景和发展现状做了简要论述。首先介绍了超视距雷达的发展历史与主要特点；其次描述了超视距雷达数据处理系统目前存在的一些问题；最后介绍了目前超视距雷达数据处理系统研究的发展现状。
2．针对超视距雷达多径传播现象设计的一种仿真环境，对其中量测模型的坐标变换给出了严格而详细的证明，然后根据证明的公式设计了具体的仿真示例，并对该坐标变换公式组进行了误差统计。
3．对多径概率数据关联(MPDA)跟踪器的各个部分进行了详尽的介绍，并给出关键部分的证明过程，其中提出了多径量测和多个传播模式进行合并的思想，同时还改正了参考文献中的错误。最后给出在第二章建立的仿真环境下用该跟踪器进行目标跟踪的仿真试验及结果，同时还得到了在同等条件下标准MPDA和标准PDA跟踪器的仿真结果，然后对相关结果进行了对比分析。
4．总结了一些可应用于超视距雷达目标跟踪算法设计的备选方案。
OTHR (Over-The-Horizon Radar) is a kind of HF(high frequency) radar with great expectation, which has arisen great concern worldwide because of its large coverage, anti-stealth character and so on. In the paper, data association in OTHR is discussed. And the main work lies as follows:
1. It is introduced that what the main application background of OTHR and its data processing system is and how they have developed recently. Firstly, the history and main characteristic of OTHR is presented. Secondly, some current problems in the data processing of OTHR are pointed out. And thirdly, the developments of current OTHR data processing are summed up.
2. In the simulation environment which is deliberately designed for the OTHR's multipath propagation phenomenon, strict and detailed reasoning and demonstrations of the coordinate registration are given. And then a simulation justifies the correctness of the registration.
3. The detailed parts of the MPDA tracker are described in detail. And the demonstrations of main formulas are also given. In particular, how to incorporate the close multipath detections and multiple propagation modes is proposed. Meanwhile, some errors in the reference are corrected. Finally, a simulation of tracking a target with the MPDA tracker in the environment designed in 2 is presented, and at the same time that of the standard PDA tracker is also given.
4. Some possible schemes in OTHR target tracking are given in the last part of the paper.
1．对超视距雷达及其数据处理系统的应用背景和发展现状做了简要论述。首先介绍了超视距雷达的发展历史与主要特点；其次描述了超视距雷达数据处理系统目前存在的一些问题；最后介绍了目前超视距雷达数据处理系统研究的发展现状。
2．针对超视距雷达多径传播现象设计的一种仿真环境，对其中量测模型的坐标变换给出了严格而详细的证明，然后根据证明的公式设计了具体的仿真示例，并对该坐标变换公式组进行了误差统计。
3．对多径概率数据关联(MPDA)跟踪器的各个部分进行了详尽的介绍，并给出关键部分的证明过程，其中提出了多径量测和多个传播模式进行合并的思想，同时还改正了参考文献中的错误。最后给出在第二章建立的仿真环境下用该跟踪器进行目标跟踪的仿真试验及结果，同时还得到了在同等条件下标准MPDA和标准PDA跟踪器的仿真结果，然后对相关结果进行了对比分析。
4．总结了一些可应用于超视距雷达目标跟踪算法设计的备选方案。
OTHR (Over-The-Horizon Radar) is a kind of HF(high frequency) radar with great expectation, which has arisen great concern worldwide because of its large coverage, anti-stealth character and so on. In the paper, data association in OTHR is discussed. And the main work lies as follows:
1. It is introduced that what the main application background of OTHR and its data processing system is and how they have developed recently. Firstly, the history and main characteristic of OTHR is presented. Secondly, some current problems in the data processing of OTHR are pointed out. And thirdly, the developments of current OTHR data processing are summed up.
2. In the simulation environment which is deliberately designed for the OTHR's multipath propagation phenomenon, strict and detailed reasoning and demonstrations of the coordinate registration are given. And then a simulation justifies the correctness of the registration.
3. The detailed parts of the MPDA tracker are described in detail. And the demonstrations of main formulas are also given. In particular, how to incorporate the close multipath detections and multiple propagation modes is proposed. Meanwhile, some errors in the reference are corrected. Finally, a simulation of tracking a target with the MPDA tracker in the environment designed in 2 is presented, and at the same time that of the standard PDA tracker is also given.
4. Some possible schemes in OTHR target tracking are given in the last part of the paper.
引文
[1] Y. Bar-Shalom, and T. E. Fortmann. Tracking and Data Association. Academic Press, 1988.
[2] Y. Bar-Shalom, and E. Tse. "Tracking in a Cluttered Environment With Probabilistic Data Association". Automatica, vol. 11, 1975. pp 451—460.
[3] G.W.Pulford, R.J. Evans. "A Multipath Data Association Tracker for Over-the-Horizon Radar". IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMS. VOL. 34, NO.4 OCTOBER 1998. pp 1165-1182.
[4] Blom,H.A.P., and Bar-Shalom,Y. "The interacting multiple modelalgorithm for systems with Markov switching coefficients".IEEE Trans on Automatic Control, 1988, 33(2):780-783.
[5] Colegrove, S. B. "Multi-target tracking in a cluttered environment". In Proceedings of the ISSPA '87, adelaide, Aug. 1987. pp 307-314.
[6] Musicki, D., Evans, R. J., and Stankovic, S. "Intergrated probabilitistic data association". IEEE Transactions on Automatic Control, 39, 6(June 1994). Pp 1237-1241
[7] 吴晓进．“超视距雷达及其防空应用”．现代防御技术．第30卷，第5期，2002年10月．pp．41-45．
[8] 张长爱，周文瑜，韩蕴洁．“天波超视距雷达的作用及关键技术”．现代防御技术，第26卷，第5期，1998年9月．pp．42-49．
[9] 刘春阳．“天波超视距雷达讦述”．现代防御技术，第27卷，第3期，1999年6月．pp．16-24．
[10] Tang Xiaodong, Han Yunjie, Zhou Wenyu. "Skywave Over-the-Horizon Backscatter Radar".0-7803-7000-1/01 2001 IEEE, pp.90-94.
[11] N.S. Wheadon, J.C. Whitehouse, J.D. Milsom and R.N. Herring. "Ionospheric Modeling And Target Coordinate Register For HF Sky-wave Radars". 'HF Radio Systems and Techniques', 4-7 July 1994, Conference Publication No.392, IEE, 1994.
[12] B. F. La Scala and G. W. Pulford December 1997. "Multipath Target Tracking
with Uncertain Co-ordinate Registration Advice-Solution Approaches": CSSIP report 24/97 to DSTO.
[13] Dr G. W. Pulford December 1998. "Multipath Target Tracking with Uncertain Co-ordinate Registration for Over-the-horizon radar-Software Specification": CSSIP report 36/98 to DSTO.
[14] Dr G. Pulford December 1998. "Multipath Target Tracking with Uncertain Co-ordinate Registration ": CSSIP report 38/98 to DSTO.
[15] Xuezhi Wang and Darko Musicki. "Low Elevation Sea-Surface Target tracking Using IPDA Type Filters". 0-7803-7801-7/03, Radar 2003, IEEE 2003, pp 472-478.
[16] I.W. Dall and A. J. Shellshear. "Evaluation of a Model Based Data Fusion Algorithm with Multi-mode OTHR Data". 1058-6393/93 1993 IEEE, pp 300-304.
[17] I.W. Dall and D. J. Kewley. "Track association in the presence of multi-mode propagation" in the Proceedings of the International Conference on Radar 92, pp 70-73, IEE Publication 365, October 1.
[18] M Mohandes, Re Bogner, A Bouzerdoum. "Hierarchical Clustering For OTHR Track Fusion". 0-7803-3601-1/1996 IEEE. pp 90-93.
[19] R.E. Bogner, A. Bouzerdoum, K.J. Pople and J. Zhu. "Association of Tracks from Over The Horizon Radar". IEEE AES Systems Magazine, September 1998.
[20] Graham Pulfordy, and Barbara La Scala. Over-The-Horizon Radar Tracking Using The Viterbi Algorithm: CSSIP Second Report to DSTO. August 31, 1995. Report No. 16/95.
[21] Graham Pulfordy, and Barbara La Scalay. Over-The-Horizon Radar Tracking Using The Viterbi Algorithm: CSSIP Third Report to DSTO. December 21, 1995. Report No. 27/95.
[22] G. W. Pulford and B. F. La Scala. Multiregion Viterbi Data Association Tracking for Over-the-Horizon Radar. October 1997. CSSIP Report No. 20/97.
[23] B. F. La Scala and G. W. Pulford. Implementation ora Viterbi Data Association Tracker for Manoeuvring Targets in Over-the-Horizon Radar. 19 May, 1997. CSSIP Report No. 12/97.
[24] Alex Cameron. "The Jindalee Operational Radar Network: Its Architecture and Surveillance Capability". 0-7803-2120-0/95/0000-0692, IEEE International Radar Conderence, 1995. pp.692-697.
[25] Y. Bar-Shalom, and W. D. Blair, Multitarget-Multisensor Tracking: Advanced Applications. Vol.3, Boston: Artech House, 2000.
[26] Quan Pan, Jingpin Zhang and Hongcai Zhang. General Probability Data Association to Maneuvering Multi-target Tracking. Proc. of the first Asia Control Conference(ASCC). Tokyo: July 1994: 1.3(3) 455-458
[27] 潘泉，自适应目标跟踪算法研究，西北工业大学博士论文，1997．
[28] T. E. Fortman, Y. Bar-Shalom, and M. Scheffe, "Multi-Target Tracking Using Joint Probabilistic Data Association", in Proc. 1980 IEEE Conf. Decision and Control, Albuquerque, NM, Dec. 1980.
[29] Y. Bar-Shalom, "Tracking Method in Multitarget Environment", IEEE TRAN.AC-23, p618-626, Aug. 1978.
[30] Y. Bar-Shalom and X. R. Li, Multitarget-Multisensor Tracking: Principles and Techniques, Storrs, CT: YBS Publishing, 1995.
[31] Y. Bar-Shalom and X. R. Li, Estimation and Tracking: Principles, Techniques and Software, Artech House, 1993.
[32] S. Blackman, R. Popoli. Design and Analysis of Modern Tracking System. Norwood MA: Artech House, 1999.
[33] R.A. Singer, R.G. Sec. "A New Filter for Optimal Tracking in Dense Multitarget Environments". Proc. of the Ninth Allerton Conf. on Circuit and System Theory, 1971, pp.201-211.
[34] Y. Bar-Shalom. "Extension of the Probabilistic Data Association Filter to Multitarget Environment". Proc. Fifth Symp. on Nonlinear Estimation. San Diego, CA, Sep. 1974.
[35] Y. Bar-Shalom, T. E. Fortmann, M. Scheffe. "Joint Probabilistic Data Association for Multiple Targets in Clutter". Proc. 1980 Conf. Information Sciences and Systems. Princeton Univ., Mar. 1980.
[36] T. E. Fortmann, Y. Bar-Shalom, M. Scheffe. "Sonar Tracking of Multiple Targets Using Joint Probabilistic Data Association". IEEE Journal of Oceanic Eng.. OE-8, Jul. 1983, pp.173-183.
[37] E. Waltz, J. Llinas. Multisensor Data Fusion, Norwood, MA: Artech House, 1990.
[38] Y. Bar-Shalom, (Ed.). Multitarget-Multisensor Tracking: Advanced Applications. Norwood, MA: Artech House, 1990.
[39] Y. Bar-Shalom, (Ed.). Multitarget-Multisensor Tracking: Applications and Advances. Vol. Ⅱ, Norwood, MA: Artech House, 1992.
[40] D.L. Hall. Mathematical Techniques in Multisensor Data Fusion. Artech House, Boston. London, 1992.
[41] 周宏仁，敬忠良，王培德．机动目标跟踪．国防工业出版社，北京，1994．10．
[42] 何友，王国宏，陆大金，彭应宁．多传感器信息融合及应用．电子工业出版社，北京，2001．
[43] R. van der Merwe and E. A. Wan, "The Square-Root Unscented Kalman Filter for State and Parameter-Estimation", in International Conference on Acoustics, Speech, and Signal Processing, Salt Lake City, Utah, May, 2001.
[44] B. Stenger, P. R. S. Mendonca, and R. Cipolla "Model-Based Hand Tracking Using an Unscented Kalman Filter" In Proc. British Machine Vision Conference (BMVC 2001), Volume Ⅰ, pages 63-72, Manchester, UK, September 2001.
[45] Rudolph der Merwe, A. Doucet, N. de Freitas and E. Wan, "The Unscented Particle Filter", in Advances in Neural Information Processing Systems (NIPS13), MIT Press, Eds. T. K. Leen, T. G. Dietterich and V. Tresp, Dec, 2000
[46] 叶西宁．多目标跟踪系统中数据关联与多维分配技术，西北工业大学博士论文，2003．
[47] 刘刚．多目标跟踪算法及实现研究，西北工业大学博士论文，2004．
[2] Y. Bar-Shalom, and E. Tse. "Tracking in a Cluttered Environment With Probabilistic Data Association". Automatica, vol. 11, 1975. pp 451—460.
[3] G.W.Pulford, R.J. Evans. "A Multipath Data Association Tracker for Over-the-Horizon Radar". IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMS. VOL. 34, NO.4 OCTOBER 1998. pp 1165-1182.
[4] Blom,H.A.P., and Bar-Shalom,Y. "The interacting multiple modelalgorithm for systems with Markov switching coefficients".IEEE Trans on Automatic Control, 1988, 33(2):780-783.
[5] Colegrove, S. B. "Multi-target tracking in a cluttered environment". In Proceedings of the ISSPA '87, adelaide, Aug. 1987. pp 307-314.
[6] Musicki, D., Evans, R. J., and Stankovic, S. "Intergrated probabilitistic data association". IEEE Transactions on Automatic Control, 39, 6(June 1994). Pp 1237-1241
[7] 吴晓进．“超视距雷达及其防空应用”．现代防御技术．第30卷，第5期，2002年10月．pp．41-45．
[8] 张长爱，周文瑜，韩蕴洁．“天波超视距雷达的作用及关键技术”．现代防御技术，第26卷，第5期，1998年9月．pp．42-49．
[9] 刘春阳．“天波超视距雷达讦述”．现代防御技术，第27卷，第3期，1999年6月．pp．16-24．
[10] Tang Xiaodong, Han Yunjie, Zhou Wenyu. "Skywave Over-the-Horizon Backscatter Radar".0-7803-7000-1/01 2001 IEEE, pp.90-94.
[11] N.S. Wheadon, J.C. Whitehouse, J.D. Milsom and R.N. Herring. "Ionospheric Modeling And Target Coordinate Register For HF Sky-wave Radars". 'HF Radio Systems and Techniques', 4-7 July 1994, Conference Publication No.392, IEE, 1994.
[12] B. F. La Scala and G. W. Pulford December 1997. "Multipath Target Tracking
with Uncertain Co-ordinate Registration Advice-Solution Approaches": CSSIP report 24/97 to DSTO.
[13] Dr G. W. Pulford December 1998. "Multipath Target Tracking with Uncertain Co-ordinate Registration for Over-the-horizon radar-Software Specification": CSSIP report 36/98 to DSTO.
[14] Dr G. Pulford December 1998. "Multipath Target Tracking with Uncertain Co-ordinate Registration ": CSSIP report 38/98 to DSTO.
[15] Xuezhi Wang and Darko Musicki. "Low Elevation Sea-Surface Target tracking Using IPDA Type Filters". 0-7803-7801-7/03, Radar 2003, IEEE 2003, pp 472-478.
[16] I.W. Dall and A. J. Shellshear. "Evaluation of a Model Based Data Fusion Algorithm with Multi-mode OTHR Data". 1058-6393/93 1993 IEEE, pp 300-304.
[17] I.W. Dall and D. J. Kewley. "Track association in the presence of multi-mode propagation" in the Proceedings of the International Conference on Radar 92, pp 70-73, IEE Publication 365, October 1.
[18] M Mohandes, Re Bogner, A Bouzerdoum. "Hierarchical Clustering For OTHR Track Fusion". 0-7803-3601-1/1996 IEEE. pp 90-93.
[19] R.E. Bogner, A. Bouzerdoum, K.J. Pople and J. Zhu. "Association of Tracks from Over The Horizon Radar". IEEE AES Systems Magazine, September 1998.
[20] Graham Pulfordy, and Barbara La Scala. Over-The-Horizon Radar Tracking Using The Viterbi Algorithm: CSSIP Second Report to DSTO. August 31, 1995. Report No. 16/95.
[21] Graham Pulfordy, and Barbara La Scalay. Over-The-Horizon Radar Tracking Using The Viterbi Algorithm: CSSIP Third Report to DSTO. December 21, 1995. Report No. 27/95.
[22] G. W. Pulford and B. F. La Scala. Multiregion Viterbi Data Association Tracking for Over-the-Horizon Radar. October 1997. CSSIP Report No. 20/97.
[23] B. F. La Scala and G. W. Pulford. Implementation ora Viterbi Data Association Tracker for Manoeuvring Targets in Over-the-Horizon Radar. 19 May, 1997. CSSIP Report No. 12/97.
[24] Alex Cameron. "The Jindalee Operational Radar Network: Its Architecture and Surveillance Capability". 0-7803-2120-0/95/0000-0692, IEEE International Radar Conderence, 1995. pp.692-697.
[25] Y. Bar-Shalom, and W. D. Blair, Multitarget-Multisensor Tracking: Advanced Applications. Vol.3, Boston: Artech House, 2000.
[26] Quan Pan, Jingpin Zhang and Hongcai Zhang. General Probability Data Association to Maneuvering Multi-target Tracking. Proc. of the first Asia Control Conference(ASCC). Tokyo: July 1994: 1.3(3) 455-458
[27] 潘泉，自适应目标跟踪算法研究，西北工业大学博士论文，1997．
[28] T. E. Fortman, Y. Bar-Shalom, and M. Scheffe, "Multi-Target Tracking Using Joint Probabilistic Data Association", in Proc. 1980 IEEE Conf. Decision and Control, Albuquerque, NM, Dec. 1980.
[29] Y. Bar-Shalom, "Tracking Method in Multitarget Environment", IEEE TRAN.AC-23, p618-626, Aug. 1978.
[30] Y. Bar-Shalom and X. R. Li, Multitarget-Multisensor Tracking: Principles and Techniques, Storrs, CT: YBS Publishing, 1995.
[31] Y. Bar-Shalom and X. R. Li, Estimation and Tracking: Principles, Techniques and Software, Artech House, 1993.
[32] S. Blackman, R. Popoli. Design and Analysis of Modern Tracking System. Norwood MA: Artech House, 1999.
[33] R.A. Singer, R.G. Sec. "A New Filter for Optimal Tracking in Dense Multitarget Environments". Proc. of the Ninth Allerton Conf. on Circuit and System Theory, 1971, pp.201-211.
[34] Y. Bar-Shalom. "Extension of the Probabilistic Data Association Filter to Multitarget Environment". Proc. Fifth Symp. on Nonlinear Estimation. San Diego, CA, Sep. 1974.
[35] Y. Bar-Shalom, T. E. Fortmann, M. Scheffe. "Joint Probabilistic Data Association for Multiple Targets in Clutter". Proc. 1980 Conf. Information Sciences and Systems. Princeton Univ., Mar. 1980.
[36] T. E. Fortmann, Y. Bar-Shalom, M. Scheffe. "Sonar Tracking of Multiple Targets Using Joint Probabilistic Data Association". IEEE Journal of Oceanic Eng.. OE-8, Jul. 1983, pp.173-183.
[37] E. Waltz, J. Llinas. Multisensor Data Fusion, Norwood, MA: Artech House, 1990.
[38] Y. Bar-Shalom, (Ed.). Multitarget-Multisensor Tracking: Advanced Applications. Norwood, MA: Artech House, 1990.
[39] Y. Bar-Shalom, (Ed.). Multitarget-Multisensor Tracking: Applications and Advances. Vol. Ⅱ, Norwood, MA: Artech House, 1992.
[40] D.L. Hall. Mathematical Techniques in Multisensor Data Fusion. Artech House, Boston. London, 1992.
[41] 周宏仁，敬忠良，王培德．机动目标跟踪．国防工业出版社，北京，1994．10．
[42] 何友，王国宏，陆大金，彭应宁．多传感器信息融合及应用．电子工业出版社，北京，2001．
[43] R. van der Merwe and E. A. Wan, "The Square-Root Unscented Kalman Filter for State and Parameter-Estimation", in International Conference on Acoustics, Speech, and Signal Processing, Salt Lake City, Utah, May, 2001.
[44] B. Stenger, P. R. S. Mendonca, and R. Cipolla "Model-Based Hand Tracking Using an Unscented Kalman Filter" In Proc. British Machine Vision Conference (BMVC 2001), Volume Ⅰ, pages 63-72, Manchester, UK, September 2001.
[45] Rudolph der Merwe, A. Doucet, N. de Freitas and E. Wan, "The Unscented Particle Filter", in Advances in Neural Information Processing Systems (NIPS13), MIT Press, Eds. T. K. Leen, T. G. Dietterich and V. Tresp, Dec, 2000
[46] 叶西宁．多目标跟踪系统中数据关联与多维分配技术，西北工业大学博士论文，2003．
[47] 刘刚．多目标跟踪算法及实现研究，西北工业大学博士论文，2004．