摘要
红外搜索系统(Infra-Red Search System,IRSS)被动地接受目标的红外辐射来探测、跟踪和识别目标。其相比于雷达预警,红外搜索系统具有隐蔽性好、角分辨率高、抗电磁干扰能力强,以及体积小、重量轻、机动性强等优点,正逐渐成为现代防御体系中的一个重要组成部分,受到各国军工部门的重视。作为红外搜索系统中的一项关键技术,红外弱小目标检测与跟踪技术在红外图像处理领域中受到广泛的重视。对于实际的武器系统,如何尽可能提高目标的探测距离,以争取在最有利的时机获得来袭目标的相关信息成为决定现代战争胜负的重要因素。但当目标距离较远时,目标在红外图像中表现为点目标,且其受到复杂背景杂波和噪声影响的可能性更大,所以相比于其它红外目标探测跟踪问题而言,如何实现复杂背景条件下红外小目标的稳健检测和跟踪成为一项更具有实际意义和挑战的研究课题。
本文的主要研究内容是在基于面阵探测器扫描的搜索系统平台上,研究包括目标红外辐射传输特性,及在该平台下目标成像模型和影响目标探测性能的杂波与噪声的分布特征;深入研究红外背景抑制技术,在研究、比较和改进已有算法的基础上,提出了一系列适合本平台的红外目标背景抑制算法;深入研究目标检测跟踪技术,并将红外目标预处理、检测与跟踪过程在一个完整的框架下实现。
在目标红外辐射、传输方面,分析了典型来袭目标(飞机、巡航导弹)的红外辐射特性,研究了大气红外传输特性,为搜索系统选择合适的工作参数提供了理论依据;推导出基于面阵探测器扫描搜索系统的成像点扩散函数,并深入研究分析了影响目标检测的背景杂波和噪声的时间和空间分布特征。
在背景抑制技术方面,研究、比较了已有的点目标背景抑制算法,并将这些方法改进以应用于本系统;在分析、比较这些算法特点的基础上,提出一系列结合本系统目标空间和时间分布特征的背景抑制方法,包括:利用单帧图像中目标空间分布特征的最小行间差滤波算法;结合目标区域线型形状相似度的基于区域统计排序的滤波算法;利用目标在不同尺度下分布差异的基于小波变换的滤波方法;依据光流直方图补偿背景云杂波运动的基于光流直方图的运动补偿算法及其简化的帧间匹配滤波算法。并通过大量的实验,研究、比较了这些算法各自的特点与适用条件。
在目标检测方面,为进一步提高单帧图像的目标探测率,本文提出了基于背景自适应调整的小目标检测技术;并提出了基于算法融合的目标检测算法,该方法融合了不同算法的特点,对多种检测方法所检测的目标进行融合判决,并对所判决的目标分为不同的确信等级。实验结果表明,该方法有效的提高了目标的检测概率,并降低了因杂波和噪声产生的虚警。
针对红外搜索系统,本文提出一种基于多假设的目标跟踪方案。根据目标在搜索系统中的运动特性和确信等级,采用卡尔曼滤波实现目标的预测与滤波,提出了完整的航迹起始、维持和终结方案。提出了一种基于多目标特征综合评价因子的数据关联技术,用目标坐标位置、灰度分布在时间上的连续性进行数据关联。仿真结果表明,本文提出的图像序列中弱小目标探测跟踪方案具有强的抗杂波、多目标跟踪、抗数据丢失和实时处理能力。
最后,设计并实现了基于FPGA+DSP的信号处理系统,并根据本文所提出的目标探测与跟踪的理论与算法研究结果,将检测算法在不影响性能的前提下改进以易于硬件实现,并在该信号处理平台中实现。通过大量外场实验验证了本文所提出算法的有效性和实用性。
Infrared Search Systems (IRSS) are electro-optical detectors which detect, recognize and track targets by receiving their Infrared emission passively. The IRSS which, either working alone or as part of radar surveillance suite, search and scout military targets, can provide target information to fire control system of weapon platforms. In general, IRSS has passive detection and invisibility, high resolving ability, fine anti-jamming ability, small volume, lightweight and high maneuverability. For these advantages, IRSS becomes an important component of the nation defense system, and obtains wide attention and energetic cooperation in recent years. As for the real weapon systems, how to make the best of IR target detection techniques to increase the distance of target detection and to obtain the related information about the invading targets, have become important factors to decide the victory or defeat of modern warfare. But when target is far away from sensors, the target is point-like and the image SNR is very low. The target signal amplitude is weak relative to the noise amplitude and lacks distance information. Therefore, comparing with other topics in the field of IR target detection and tracking, how small targets can be robustly detected and tracked under complex backgrounds have become the more realistic and challenging research topics.
The main contents of this study was based on the Infrared focal plane array (IRFPA), including the research of the infrared radiation and transmission characteristics; analyzing the imaging model of the target and the influence of the clutter and noise; study of the infrared background suppression technology. Research and compare a series of background suppression algorithms based on this platform, and improve these algorithms to fit for this platform; further study of the target detection and track technology. Thus, the two sub-topics in the field of small target detection and tracking, background suppression and small target detection are realized in an integrated adaptive framework.
This paper analyze the infrared radiation characteristics of the target (aircraft, cruise missiles), and discuss the atmospheric transmission characteristic. This all provide the theoretical basis to choose the infrared band and system parameter. The Point Scattering Function (PSF) of degradation model images blurred by IRFPA s' rotations is presented, and analyze the temporal and spatial distribution of noise and clutter.
In the background suppression, studies and compare the existing algorithms, and these algorithms are improved to apply for IRSS based on IRFPA. Based on the analysis of these algorithms, this paper proposed a series of algorithms based on spatial and temporal characteristic of the target in the IRSS based on IRFPA. They are Minimum Rows Difference Filter, which is based on the spatial characteristic of target in single frame, Local Area Order statistics filter, based on the target's shape similarity, a multi-scale filter based on the wavelet transform, and the algorithm based on Optical Flow Histogram and its simplified algorithm: frame matching filter. Through experiments result, each algorithm's characteristics and the application conditions is compared and analyzed.
In order to advance the detection ratio of dim target in clutter background, this paper proposed an adaptive background adjusting algorithm. A detection method based on synthesizing different algorithms is advanced. This method synthesizes the detection results of algorithms, and decides the grade of each target. Experiments show that this method enhances the target detection ratio, and reduces the false alarm, caused by clutter and noise.
This paper designs a multiple hypotheses tracking scheme for IRSS based on IRFPA. The presented multi-target tracking (MTT) method adopts Kalman filter to predict new position of target, and a complete algorithm framework is brought forward for track initiation, track maintaining and track ending. In track maintaining, target's position and mean gray level are taken into count, and a new data association technique based on multiple target characters is investigated. An emulator of dim and small targets detection and tracking is designed to confirm validity of methods. Results show that algorithms of target detection and tracking in IR image sequences have high clutter suppression ability, anti-target-missing ability and significant real-time processing ability.
Designed and implemented signal processing systems based on FPGA + DSP. According to the proposed target detection and tracking algorithm and theory, the algorithms is improved to easy to implement in this processing systems. A large number of experiments show that algorithms proposed in this paper are efficient and practical.
引文
[1]周永生,陈松海,张肖斌.雷达克星——反辐射导弹.当代海军,2006(7).50-51
[2]徐南荣,卞南华.红外辐射与制导.北京:国防工业出版社.1997
[3]Jean-Michel Missirian,Laurent Ducmet.IRST:a key system in modem warfare.Proc.SPIE.1997,vol.3061:554-565
[4]Scott W B.Second-generation FLIRs enhance night attack system.Aviation need &space technology.1993,7:56-59
[5]Jess F Get al.Anti-missile system should not be rushed.National Defense,Jan 2000
[6]Wall R.New missile defense technologies pushed.Aviation Week & Space Technology,Sep 2000
[7]Meimei.Z.New Infrared Sensors for Ballistic Missile Defense.SPIE.Quantum sensing and nanophotonic devices Ⅱ,2005:5732,217-224
[8]Richard D Hudson,Jr.Infrared System Engineering.John wiley & Sons,Inc.,1969
[9]何宝福,王东,戴才彬.红外空情预警系统及其作战运用研究.现代防御技术.2005(33):12-16
[10]晋培利,李晓琳,毛登森等.红外预警探测系统的现状和发展.光电技术应用.20063(21):1-4
[11]付伟,侯振宁.国外红外侦察告警设备的新进展.红外技术.2001 3(23):1-3
[12]商越.未来作战飞机优越的搜索与跟踪系统.国防技术基础.2002 5:7-10
[13]夏明革,何友,唐小明.舰载红外警戒系统发展概况及其关键技术评述.船舶电子工程.2002(2):8-13
[14]任全,李为民.反巡航导弹中的红外探测预警分析.战术导弹控制技术.2005(4):41-45
[15]杨莉,吴阳春,樊祥.对抗反辐射导弹技术分析.探测与控制学报.2006 28(2):53-56
[16]谭显裕.红外目标探测器的特征及其军用前景.光电子技术.2000 20(2):98-106
[17]杨华,凌永顺,陈昌明等.美国反导系统红外探测、跟踪和识别技术分析.红外技术.2001 4(23):1-4
[18]Lyles L.Report to the Congress on Ballistic Missile Defense.USA Ballistic Missile Defense Organization.1997
[19]付伟.国外红外侦察告警装备的新发展.现代防御技术.2001(3):10-13
[20]Boyd Cook.PIRATE:the IRST for Eurofighter TYPHOON.Proc.SPIE.2003,vol.4820:897-907
[21]岳松堂.华菊仙.俄罗斯新一代防空导弹系统.外国炮军.2005(4):19-25
[22]李富栋.机载红外搜索与跟踪系统的现状与发展.激光与红外.2008(5):409-413
[23]于彦梅,王丹伟.国外舰载搜索跟踪技术发展研究.情报指挥控制系统与仿真技术.2003(5)1-5
[24]Arie N.de Jong,Alexander M.J.van Eijk,Marcel M.Moerman,etc.Aerosol size distributions retrieved from multi-band transmissometer data in the Southern Baltic Sea during the VAMPIRA trials.Proc.SPIE.2006,vol.6364-06:1-12
[25]乙一.IRSCAN_天狼星_红外搜索跟踪系统.舰船电子对抗.2000(4)34
[26]R.Knepper.SIRIUS,a long range infrared search and track system.Proc.SPIE.1997,vol.3061:578-584
[27]Joseph E.Misanin.USN shipboard infrared search and track(IRST) program.Proc.SPIE.1997,vol.3061:436-442
[28]吴晗平.红外警戒系统的技术方法研究.现代防御技术.1998(5):7-12
[29]朱耘.红外警戒系统综述,舰船科学技术.2001(1):10-12
[30]舒金龙,朱振福,胡文智.雷达的辅助替代设备——红外搜索跟踪系统,现代军事.2003(7)13-21
[31]白学福,梁永辉,江文杰.红外搜索跟踪系统的关健技术和发展前景.国防科技.2007(1):8-10
[32]孙志君,刘俊刚.欧代永.红外焦平面阵列技术在新军事装备应用.传感器世界.2004(11):7-13
[33]吴晗平,易新建,杨坤涛.红外搜索系统的现状与发展趋势,激光与红外.2003(10):1-7
[34]韩根甲.舰载红外搜索与跟踪系统的最新现状与发展趋势.现代防御技术.200735(3)109-115
[35]晋培利,李晓林,毛登森等.红外预警探测系统的现状和发展.光电技术应用.2006(3)
[36]付伟.舰载光电侦察告警装备发展综述.舰载武器.2002(2):22-28
[37]王泽和.迈向21世纪的舰用光电设备.应用光学.1998(5):1-5
[38]Askar H.,Li Xiaofeng,Li Zaiming.Performance analysis of dim moving point target detection algorithms.International Conference on Communications,Circuits and Systems and West Sino Expositions.2002 IEEE Trans.2002,2:229-242
[39]Burton M,Benning C.Comparison of imaging infrared detection algorithms.Proc.SPIE.1981,vol.302:26-32
[40]汪国有,陈振学,李乔亮.复杂背景下红外弱小目标检测的算法研究综述.红外技术.2006,5(28):287-292.
[41]Lawrence N.R,Joel S.D.and Robert C.A.IRST signal processing concepts.Proc SPIE 750:92-98,1987.
[42]孙滨生.前视红外探测技术现状及发展.航空信息研究报告.HY94007(3):1994:1-23.
[43]徐军.红外图像中弱小目标检测技术研究.西安电子科技大学.2001
[44]M.Mooney,J.Silverman,and C.E.Caefer,Point target detection in consecutive frame staring infrared imagery,Optical Engineering,34,2772-2784,1995.
[45]Wang G et al.A pipeline algorithm for detection and tracking of pixel-sized target trajectories Proc SPIE 1305:167-178,1990.
[46]杨磊.复杂背景条件下的红外小目标检测与跟踪算法研究.上海交通大学.2006
[47]于雪莲.复杂背景条件下红外运动目标的实时检测与跟踪技术.南京理工大学硕士学位论文.2004
[48]韩客松.复杂背景下红外点目标检测的预处理.系统工程与电子技术.2000(1):52-54
[49]彭嘉雄,周文琳.红外背景抑制与小目标分割检测.电子学报.1999(12):47-51
[50]周卫祥,孙德宝,彭嘉雄.红外图像序列运动小目标检测的预处理算法研究.国防科技大学学报.1999(5):57-60.
[51]ScharFand L.L.and Friedlander B.Matched subspace detectors.IEEE Trans.Signal Proc.,42(8):2146-2156,1994
[52]Yilmaz A.,Shafique K.and Shah M.Target tracking in airborne forward looking infrared imagery.Image Vision Comput.,21(7):623-635,2003.
[53]Yang L.,Yang J.and Yang K.Adaptive detection for infrared small target under sea-sky complex background.Electron.Lett.,40(17):1083-1085,2004.
[54]叶增军,王江安等.海空复杂背景下红外弱点目标的检测算法.红外与毫米波学报.2000(2):121-124
[55]朱梦宇,赵保军,韩月秋.一种实用的红外弱小目标检测跟踪处理机研究.激光与红外.2002(6):407-409
[56]Robin N.S.and He H.Wavelet transform methods for object detection and recovery.IEEE Trans.Image Proc.,6(1):724-735,1997.
[57]Casasent D.P.,and Smokelin J.S.Real,imaginary,and clutter Gabor filter fusion for detection with reduced false alarms.Opt.Eng.,33(7):2255-2263,1994.
[58]李红艳,吴成柯.一种基于小波和遗传算法的小目标检测算法.电子学报.2001(4):439-442
[59]Castleman K.R.,Digital Image Processing.Prentice Hall.2nd Edition,2002.
[60]Barnelt J.Statistical analysis of mediam subtraction fiheritig with application to point target detection in infrared backgrounds.Proc.SPIE,1050:10-18,1989.
[61]叶斌,彭嘉雄.基于形态学Top-hat算子的小目标检测方法.中国图像图形学报.2002(7)638-642
[62]汪洋.郑亲波,张钧屏.基于数学形态学的红外图像小目标检测.红外与激光工程.2003(1):28-32
[63]Victor T.T.and Tamar P.et al.Morphology-based algorithm for point target detection in infrared backgrounds.Proc 1954:2-11.1993
[64]孙伟,夏良正.一种基于形态学的红外目标分割方法.红外与毫米波学报.2004(3):233-236
[65]Gonzalez R.C.and Woods R.E,Digital Image Processing.2nd Edition,2003
[66]Hadhoud M.M.and Thomas D.W The two-dimensional adaptive LMS(TDLMS).IEEE Trans.Circ.Sys.,35(5):485-494,1988.
[67]Ohki M.and Hashiguchi S.Two-dimensional LMS adaptive filters.IEEE Trans.Consum.Electron.37(1):66-73,1991.
[68]Soni T.,Zeidler J.R.and Ku W H.Performance evaluation of 2-D adaptive prediction filters for detection of small targets in image data.IEEE Trans.Image Proc.,2(3):327-339,1993.
[69]朱红,赵亦工.基于背景自适应预测的红外弱小目标检测.红外与毫米波学报.1999(4):305-310
[70]Kaplan L.M.Small target detection in clutter using recursive nonlinear prediction Trans.Aeros.Electron.Sys.,36(2):713-717,2000
[71]Leung H.and Haykin S.Is there a radar attractor.Appl.Phys.Lett.,56(6):593-595,1990.
[72]He N.and Haykin S.Chaotic modeling of sea clutter.Electron.Lett.,28(22):2076-2077,1992.
[73]Leung H.and Lo T.Chaotic radar signal processing over the sea.IEEE J Oceanic Eng..,18{3) 287-295,1993
[74]Hilliard C.I.Selection of a clutter rejection algorithm for real-time target detection from an airborne platform.Proc.SPIE,4048:74-84,2000.
[75]Denney B.S.and Figuriredo R.J.P.Optimal point target detection using adaptive auto regressive background predictive.Proc.SPIE,4048:46-57,2000.
[76]Bello M.G A random-field model-based algorithm for anomalous complex image pixel detection.IEEE Trans.Image Proc.,1(2):186-196,1992.
[77]陈卉,欧阳揩.用于图像增强的侧抑制网络模型的仿真比较.系统仿真学报,2003(1):100-103
[78]王岳环,陈妍等.基于模式侧抑制复杂背景下的小目标检测.红外与激光工程.2005(6):703-708
[79]Itti L.,Koch C.and Niebur E.A model of saliency-based visual attention for rapid scene analysis.IEEE Trans.Part.Analy.Mach.Intell.,20(11):1254-1259.1998.
[80]Yamamoto H.and Levin M.D.An active foveated vision system:attention mechanism and scan path convergence measures.Comput.Vision Image Unders.,63(1):50-65,1996.
[81]Tsotsos J.K.,Culhane S.M.and Wai W Y K.Modeling visual attention via selective tuning.Artif.Intell.,78(1-2):507-545,1995.
[82]Wang Y H.,Zhang T.X.and Wang G Y Small-target predetection with an attention mechanism.Opt.Eng.,41(4):872-885,2002.
[83]桑农,李正龙,张天序.人类视觉注意机制在目标检测中的应用.红外与激光工程.2004(1):38-42
[84]艾斯卡尔.红外搜寻与跟踪系统关键技术研究.电子科技大学.2002
[85]徐军.红外图像中弱小目标检测技术研究.西安电子科技大学.2001
[86]杨卫平,李智勇等.长波红外导引头空间自动目标识别智能系统(二).红外与激光工程,1996(5):17-23
[87]吴巍,彭嘉雄,叶斌.一种云层背景抑制与小目标检测方法.华中科技大学学报.2001(11):56-57
[88]叶斌,彭嘉雄.基于形态学Top-hat算子的小目标检测方法.中国图像图形学报.2002(7):638-642
[89]廖斌,杨卫平,沈振康.基于多帧移位叠加的红外小目标检测方法.红外与激光工程 2002(2):150-153
[90]Lavagetto F.Automatic target detection in infrared sequences through semantic labeling.Proc.SPIE,1349:476-485,1990
[91]Diani M.,Corsini G and Baldacci A.Space-time processing for the detection of airborne targets in IR image sequences.IEEE Proc.Vision,Image Signal Proc.,148(3):151-157,2001.
[92]Wang G et al.A pipeline algorithm for detection and tracking of pixel-sized target trajectories Proc SPIE 1305:167-178,1990.
[93]王凯,孙德宝,彭嘉雄.红外图像序列运动小目标的图像流检测法.华中理工大学学报.1998(9):1-4
[94]盛文,柳健.基于纹理模型的红外图像弱小目标检测.红外与激光工程.1998(5):49-52
[95]Lee H.J.,Huang L.F.and Chen Z.Multi-frame ship detection and tracking in an infrared image sequence.Patt.Recog.,23(7):785-798.1990.
[96]Jone R.and Svalbe R.Algorithm for the decomposition of gray scale morphology operations.IEEE Tran.s.Patt.Analy.Mach.Intell.,16(6):581-588,1994
[97]Boccignone G et al.Small target detection using wavelets Conf 1776-1778,1998.
[98]Faiconer D.G Target tracking with Hough transform.Proc.11th Asil.Conf.Circ.Sys.Comput:249-252,1977.
[99]Shibata T.and Frei.W Hough transform for target detection in infrared imagery.Proc 281:105-109,1981.
[100]Chu P.L.Optimal projection for multidimensional signal detection.IEEE Trans Acoust.Speech Signal Proc.,36(5):775-786,1988.
[101]Lampropoulos G A.and Boulter J.F.Filtering of moving targets using SBIR sequential frames.IEEE Trans.Aeros.Electron,Sys.,31(4):1255-1267,1995.
[102]Reed I.S.,Gagliardi R.M.and Shao H.M.Application of three-dimensional filtering to moving target detection.IEEE Trans.Aeros.Electron.Sys,.19(6):898-905,1983.
[103]Reed I.S.Gagliardi R.M.and Stotts L.Optical moving target detection with 3-D match filtering.IEEE Trans.Aeros.Electron.Sys.,24(4):327-336,1988.
[104]Blostein S.D.and Huang T.S.Detection small,moving targets in image sequences using sequential hypothesis testing.IEEE Trans.Signal Proc.,39(7):1611-1629,1991.
[105]Blostein S.D.and Richardson H.S.A sequential detection approach to target tracking.IEEE Trans.Aeros.Electron.Sys.,30(1):197-211,1994.
[106]Barniv Y DSmamic programming solution for detection dim moving targets.IEEE Trans.Aeros.Electron.Sys.,21(1):144-156,1985.
[107]Barniv Y and Kella O.Dynamic programming solution for detection dim moving targets PART Ⅱ.IEEE Trans.Aeros.Electron.Sys.,23(6):776-788,1987.
[108]Arnold J.and Pastemack J.Detection and tracking of low-observable targets through dynamic programming.Proc.SPIE,1305:206-217,1990.
[109]Arnold J.and Shaw S.Efficient target tracking using dynamic programming Aeros.Electron.Sys.,29(1):44-56,1993.
[110]Roth M.W.Neural networks for extraction of weak target in high clutter environments.IEEE Trans.,Sys.Man.Cyber,19(5):1210-1217,1989.
[111] Liou R. J. and Azimi-sadjadi M. R. Dim target detection using high order correlation method IEEE Trans. Aeros. Electctron. Sys., 29(3): 841-856, 1993.
[112] Porat B. and Friedlander B. A frequency domain approach to multiframe detection and estimation of dim targets. IEEE Trans. Part. Analy Mach. Intell., 12(4): 389-401, 1990.
[113] Bronskill J. F. et al. A knowledge-based approach to the detection, tracking and classification of target formations in infrared image sequences. IEEE Conf.CVPR: 153-158, 1989.
[114] Wax N. Signal-to-Noise Improvement and the Statistics of Tracking Populations. Journal of Applied Physics. Vol.26, May, 1955:586-595
[115] Kalman R.E. A New Approach to Linear Filtering and Prediction Problems. Journal of Basic Engineering. March, 1960:35-46
[116] Sittler R.W. An Optimal Data Association Problem in Surveillance Theory. IEEE Transactions on Military Electronics. Vol.8, No.2, 1964:125-139
[117] Jaffer A.J. and Bar-Shalom Y. On Optimal Tracking in Multiple Target Environments. Proceedings of the Third Symposium on Non-Linear Estimation Theory and Its applications. September, 1972:112-117
[118] Bar-Shalom Y. and Tse E. Tracking in a Cluttered Environment with Probabilistic Data Association. Automatica, Vol.11, No.9, 1975:451-460
[119] Singer R.A. and Stein J.J. An Optimal Tracking Filter for Processing Sensor Data of Imprecisely Determined Origin in Surveillance Systems. Proceedings of the 1 Oth IEEE Conference on Decision and Control. December, 1971:171-175
[120] Singer R.A., Sea R.G. and Housewright K.B. Derivation and Evaluation of Improvement Tracking Filters for Use in Dense Multi-target Environments. IEEE Transactions on Information Theory, Vol.20, No.7,1974:423-432
[121] 周宏仁．机动目标“当前”统计模型与自适应跟踪算法．航空学报．1983(1)：1—12
[122] Hong Ren Zhou, K S P Kumar. A Current statistical model and adaptive algorithm for estimating maneuvering targets. AIAA Journal, Guidance, Control and Dynamics. 1984,7(5)
[123] S S Blackman, R J Dempster, M T Busch. IMM/MHT Solution to Radar Benchmark Tracking Problem. IEEE Transactions on Aerospace and Electronic Systems(AES). 1999:730-738
[124] E Mazor, A Averbuch. Y Bar-Shalom. Inter-acting Multiple Model Methods in Target Tracking: A Survey. IEEE Transactions on Aerospace and Electronic Systems(AES). Jan 1998:103-123
[125] Xiao Rong Li, Y Bar-shalom. Tracking in clutter with nearest neighbor filter, analysis and performance. IEEE Transactions on Aerospace and Electronic Systems(AES). 1996
[126] Y Bar-shalom, T E Fortman. Tracking and data association. New York: Academic Press Inc. 1988
[127] Y Bar-Shalom, E Tse. Tracking in a cluttered environment with probabilistic data association. Automatic. 1975, 11(9):451-460
[128] Y Bar-shalom, A G Jafer. Adaptive nonlinear filtering for tracking with measurements of uncertain origin. Proceedings of the 11th IEEE Conference on Decision and Control. 1972:243-247
[129] Y Bar-shalom. Extension of the probabilistic data association filter in multi-targets tracking. Proceedings of the 5th Symp. on Nonlinear Estimation. 1974:16-21
[130] Mahalanabis A K, Zhou B, Bose N K. Improved multitarget tracking in clutter by PDA smoothing. IEEE Trans on Aerospace and Electronic Systems. 1990, 26(1 ):113-121
[131] Roecker J A, Phillis G L. Suboptimal joint probabilistic data association. IEEE Trans on Aerospace and Electronic Systems. 19954, 29(2): 510-517
[132] Roecker J A. A class of near optimal JPDA algorithms. IEEE Trans on Aerospace and Electronic Systems. 1994, 30(2): 504-510
[133] Musicki D, Evans R. Linear joint integrated probabilistic data association-LJIPDA. IEEE Conference on Decision and Control, 2001,2:2415-2420
[134] Reid D.B. An Algorithm for Tracking Multiple Targets. IEEE Transactions on Automatic Control, Vol.24, No.6, 1979:843-854
[135] Hong L, Werthmann J R, Bierman G S, et al. A multiresolutional approach to target tracking. IEEE Trans on Aerospace and Electronics Conference. 1993, 1:388-392
[136] Cheng Hongwei, Sun Zhongkang. Application of wavelet packets theory in maneuver target tracking. IEEE Trans on Intelligent Robots and Systems. 1997, 1: 157-162
[137] Xu Lu-ping, Chen Zhi, Zhao Ya-e. Maneuvering weak target tracking using wavelet transform. Proceedings of CIE International Conference, Radar. 2001:609-613
[138] Ahmed J, Jafri M N, Ahmad J. Target tracking in an image sequence using wavelet features and a neural network. IEEE Trans on TENCON. 2005:1-6
[139] Lang Hong. Multitarget tracking with HRR wavelets features. American Control Conference. 2002,6: 4549-4554
[140] Khare A, Tiwary U S. Daubechies complex wavelet transform based moving object tracking. IEEE Trans on CHP, Computational Intelligence in Image and Signal Processing. 2007:36-40
[141] Yeddanapudi M., Bar-Shalom Y. and Pattipati K.R. IMM Estimation for Multitarget- Multisensor Air Traffic Surveillance. Proceedings of IEEE, Vol.85, 1997:80-94
[142] Farina A. and Pardini S. Track-While-Scan Algorithm in a Clutter Environment. IEEE Transactions on Aerospace and Electronic Systems. 1978, Vol.14, No.5: 769-779
[143] Farrell J.L. Retention Probability in a Track-While-Scan Radar. IEEE Transactions on Aerospace and Electronic Systems, Vol. 17, No. 1, 1981:139-144
[144] Willner D. Kalman Filter Algorithm for Multi-Sensor System. Proceedings of the 1971 IEEE Conference on Decision and Control, Clearwater, 1976
[145] Chang CB. and Youens L.C. Measurement Correlation for Multiple Sensor Tracking in a Dense Target Environment. IEEE Transactions on Automatic Control, Vol.27, No.12, 1982 April, 1987:619-633
[146] Sengupta D.S. and Iltis R.A. Neural Solution to Multitarget Tracking Data Association Problem. IEEE Transactions on Aerospace and Electronic Systems, Vol.25, No.1, 1989:96-108
[147] Chin L. Application of Neural Networks in Target Tracking Data Fusion. IEEE Transactions on Aerospace and Electronic Systems, Vol.30, No.l 1994:281-286
[148] Hua G., Hu Y. and Shen Z.K., et al. Tracking Point-Source Targets in IR Noise with Neural Network-Aided Kalman Filter. SPIE, Vol.2561, 1995:589-597
[149] Kamen E.W. and Sastry CR. Multiple Target Tracking Using an Extended Kalman Filter. SPIE, Vol.1305, 1990:410-424
[150] Poore A.B. and Rijavec N. A New Class of Methods for Solving Data Association Problems in Multiple Target Tracking. SPIE, Vol.1481, 1991:345-356
[151] Poore A.B, and Rijavec N. Multiple Target Tracking and Multidimensional Assignment Problems. Proceedings of American Control Conference, 1991:2303-2304
[152] Kamen E.W. Multiple Target Tracking Based on Symmetric Measurement Equations. IEEE Transactions on Automatic Control. 1992, 37(4): 371-374
[153] Drummond O.E. Multiple Target Tracking with Multiple Frames, Probabilistic Data Association. SPIE, Vol.1954, 1993:394-396
[154] Kamen E.W. and Sastry CR. Multiple Target Tracking Using Products of Position Measurements. IEEE Transactions on Aerospace and Electronic Systems. 1993, 29(2): 476-492
[155]Pao L.Y.Multisensor Multitarget Mixture Reduction Algorithms for Tracking.Journal of Guidance,Control,and Dynamics.1994,17:1205-1208
[156]Blair W.D.and Watson.Interacting Acceleration Compensation Algorithm for Tracking Maneuvering Targets.IEEE Transactions on Aerospace and Electronic Systems,Vol.31,1995
[157]Kamen E.W.and Bellaire R.L.A New Implementation of the SME Filter Approach to Multiple Target Tracking.SPIE,Vol.2759,1996:477-487
[158]Kastella K.Joint Multitarget Probabilities for Detection and Tracking.Proc.SPIE.1997,Vol.3086:122-128
[159]Frenkel L.and Feder M.Recursive Expectation-Maximization(EM) Algorithms for Time-Varying Parameters with Applications to Multiple Target Tracking.IEEE Transactions on Signal Processing,Vol.47,No.2,1999:306-320
[160]Hu L.L.,Chen Y.Q.,Zen S.H,et al.Multiple Targets Tracking Using Quasi-Drip-Shaped Gating.SPIE,Vol.4048,2000:588-597
[161]Koch W.Fixed-Interval Retrodiction Approach to Bayesian IMM-MHT for Maneuvering Multiple Targets.IEEE Transactions on Aerospace and Electronic Systems,Vol.36,No.1,2000:2-14
[162]潘泉,王培德,张洪才等.修正概率数据关联算法.西北工业大学学报.1993(1):211-214
[163]潘泉,刘刚,戴冠中等.联合交互式多模型概率数据关联算法.航空学报.1999(3):580-587
[164]敬忠良,周宏仁,王培德.一种密集多回波环境下的机动多目标跟踪起始算法.航空学报.1989(11):580-587
[165]张建奇,方小平.红外物理.西安:西安电子科技大学出版社.2004
[166]徐南荣,卞南华.红外辐射与制导.北京:国防工业出版社.1997
[167]夏明革.何友,唐小明等.舰载红外警戒系统发展概况及其关键技术评述.舰船电子工程.2002(2):8-13
[168]陈炳峰,方亦浩,徐晓刚.飞机的红外辐射特征研究.航空兵器.2005(5):30-33
[169]窦晓牧,岳晓奎,罗建军等.喷气式飞机全向红外辐射特性计算方法.红外技术.1997(3):5-9
[170]张海兴,张建奇,杨威.飞机红外辐射的理论计算.西安电子科技大学学报.1997(1):79-83
[171]徐南荣,瞿荣贞.飞行器的红外特性.红外与激光工程.1999(1):9-16
[172]史际刚.飞机尾焰红外辐射特性研究.西北工业大学硕士论文.2005
[173]张忠诚,孟庆华,沈振康.红外目标特性分析.激光与红外.1999(3):166-169
[174]Clay W H.Theoretical temperature distribution in the precursor region ahead of projectiles traveling at hypersonic velocities.AD-718 641.1970
[175]Soencksen K P.Measurement of projectile surface temperature by means of its infrared radiation:a preliminary study.AD-A264 053.1993
[176]Decher R.Infrared emissions from turbofans with high aspect ratio nozzles.Journal of Aircraft.1981,vol.18(12):1025-1031
[177]Banken G.J.,Cornette W.M.,Gleason K.M.Investigation of infrared characteristics of three generic nozzle concepts.SAE and ASME Joint Propulsion Conference,16th,Hartford,Conn.,June 30-July 2,1980,AIAA-1980-1160
[178]常青.巡航导弹制导系统关键技术研究.西北工业大学,2003
[179]Clay W H.Theoretical temperature distribution in the precursor region ahead of projectiles traveling at hypersonic velocities.AD-718 641.1970
[180]Soencksen K P.Measurement of projectile surface temperature by means of its infrared radiation:a preliminary study.AD-A264 053.1993
[181]Tofani A.Computer modeling of infrared head-on emission from missile noses.Optical Engineering.1990,29(2):87-96
[182]Decher R.Infrared emissions from turbofans with high aspect ratio nozzles.Journal of Aircraft.1981,vol.18(12):1025-1031
[183]Banken G.J.,Cornette W.M.,Gleason K.M.Investigation of infrared characteristics of three generic nozzle concepts.SAE and ASME Joint Propulsion Conference,16th,Hartford,Conn.,June 30-July 2,1980,AIAA-1980-1160
[184]Tofani A.Computer modeling of infrared head-on emission from missile noses.Optical Engineering.1990,29(2):87-96
[185]毛峡,董旭阳,刁伟鹤.巡航导弹红外辐射及大气衰减计算模型.北京航空航天大学学报.2008(8):954-959
[186]白渭雄,吴法文.巡航导弹的红外辐射特征研究.空军工程大学学报(自然科学版),2003(6):26-29
[187]叶增军.复杂海空背景下红外弱点目标检测技术的研究.华中科技大学.2000
[188]Christer Wigren.A Generic IRST Detection Performance Model.SPIE.2000,vol.4030:206-217
[189]WANG Wei-Hua,NIU Zhao-Dong,CHEN Zeng-Ping.Research on the Operating Range of Staring IR Imaging System in Sea-Sky Background.Infrared Millim.Waves. 2006,vol.25(2):150-152
[190]姚连兴,仇维礼,王福恒.目标和环境的光学特性.北京:宇航出版社.1995
[191]Eisner Leonard et al.Spectral Radiation of Sky and terrain at Wavelengths between 1 and 20u.Ⅱ.Terrain Measurements.Journal of the Optical Society of America.1962,52:201-209
[192]Pollock D.H.Clutter rejection for infrared surveillance sensors.Proc.SPIE.1981,vol.292:180-192
[193]李吉成.红外起伏条件下的小目标检测技术研究.国防科学技术大学博士学位论文.1998
[194]Howard V,Kennedy.Modeling Noise in Thermal Imaging Systems.Proc.SPIE.1969:66-76
[195]谢金明.高速数字电路设计与噪声控制技术.北京:电子工业出版社.2003
[196]B.T.科洛勃罗多夫,N.舒斯特著.杨树谦译.红外热成像.航天工业总公司三院三部、八三五八所联合翻译出版.1994
[197]杨磊.复杂背景条件下的红外小目标检测与跟踪算法研究.上海交通大学.2006.
[198]徐军.红外图像中弱小目标检测技术研究.西安电子科技大学.2003
[199]韩客松.复杂背景下红外点目标检测的预处理.红外技术.1999(4)36-39
[200]张弘;赵保军;毛二可;朱梦宇;复杂背景下红外点目标检测的预处理.红外与激光工程.2001(2),96-100
[201]林长青,孙胜利,陈桂林.复杂背景下含点目标单帧红外图像的预处理.激光与红外,2006(9):900-903.
[202]桑农,李正龙,张天序.人类视觉注意机制在目标检测中的应用.红外与激光工程,2004(1):38-42
[203]Shijun Zhang,Zhongliang Jing,Jianxun Li,Leung,H.Small target detection of infrared image based on energy features,IEEE Proc.NNSP,vol 1,672-676,2003.
[204]Casasent,D.;Anqi Ye;Detection filters and algorithm fusion for ATR,Image Processing,IEEE Transactions on.6(1),114-125,1997
[205]Victor T.T.and Tamar P.et al.Morphology-based algorithm for point target detection in infrared backgrounds.Proc 1954:2-11.1993.
[206]叶斌,彭嘉雄.基于形态学Top-hat算子的小目标检测方法.中国图像图形学报.2002(7)638-642
[207]Yilmaz A.,Shafique K.and Shah M.Target tracking in airborne forward looking infrared imagery.Image Vision Comyut.,21(7):623-635,2003.
[208]杨卫平,沈振康.红外图像序列小目标检测预处理技术.红外与激光工程.1998(1):23-28
[209]Castleman K.R.,Digital Image Processing.Prentice Hall.2nd Edition,2002.
[210]Barnelt J.Statistical analysis of mediam subtraction fiheritig with application to point target detection in infrared backgrounds.Proc.SPIE,1050:10-18,1989.
[211]David B R,Spatial signal processing for infrared detection.Publication:Proc.SPIE 2235:38-51.
[212]Bradley S.Dermey,Rui J.P.de Figueiredo.Optimal point target detection using adaptive auto regressive background prediction.Proc.SPIE,Vol.4048(46) 2000;
[213]Yang L.,Yang J.and Yang K.Adaptive detection for infrared small target under sea-sky complex background.Electron.Lett.,40(17):1083-1085,2004.
[214]叶增军,王江安.海空复杂背景下红外弱点目标的检测算法.红外与毫米波学报.2000(2):121-124
[215]Mallat S.and Hwang W L.Singularity detection and processing with wavelets.IEEE Trans.Inform.Theory,38(2):617-643,1992.
[216]Mallat S.A wavelet tour of signal processing(Second edition).China Machine Press,2002.
[217]周维华.Wiener滤波图像复原.计算机工程与科学,2007(3):39-40.
[218]Castleman K R.数字图像处理.朱志刚.林学阎,石定机译.北京:电子工业出版社,1998.
[219]黄爱民,安向京.数字图像处理与分析基础.北京:中国水利水电出版社,2005.
[220]刘微.运动模糊图像恢复算法的研究与实现.中国科学院研究生院(长春光学精密机械与物理研究所),2006.
[221]周维华.Wiener滤波图像复原.计算机工程与科学.2007(3):39-40
[222]戴磊,魏宝刚.图像复原的算法研究.计算机工程与设计.2006(2):184-187.
[223]章毓晋 图像工程(中册)图像分析(第二版).北京:清华大学出版社 2005
[224]Horn B K P,Schunck B G.Determining optical flow.Artificial Intelligence,1981,(17):185-203
[225]张泽旭 李金宗 李冬冬.基于光流场分析的红外图像自动配准方法研究.红外与毫米波学报.2003(4):307-312.
[226]管志强,陈钱,顾国华等,.基于光流直方图的云背景下低帧频小目标探测方法.光学学报.2008(8)1496-1502.
[227]Hilliard C.I.Selection of a clutter rejection algorithm for real-time target detection from an airborne platform.Proc.SPIE 4048:74-84,2000.
[228]Lampropoulos G A.and Boulter J.F.Filtering of moving targets using SBIR sequential frames.IEEE Trans.Aeros.Electron.Sys.31(4):1255-1267.1995.
[229]Mooney J.M.,Silverman J.and Caefer C.E.Point target detection in consecutive frame staring infrared imagery with evolving cloud clutter.Opt.Eng.,34(9):1995.
[230]Chan D.S.K.,Langman D.A.detection of small targets in IR clutter.Proc and Staver D.A.Spatial processilig techniques for the 1305:53-62,1990.
[231]张天序.成像自动目标识别.武汉:湖北科学技术出版社.2005
[232]Lonnie C.Ludeman著,邱天爽,李婷,毕英伟等译.随机过程——滤波、估计与检测.北京:电子工业出版社.2005
[233]Steven M.Kay著,罗鹏飞,张文明,刘忠等译.统计信号处理基础——估计与检测理论.北京:电子工业出版社.2006
[234]管志强,陈钱,钱惟贤,胡永生,.一种背景自适应调整的弱点目标探测算法.光学学报.2007(12):2163-2169
[235]胡宝清.模糊理论基础,武汉大学出版社,2004
[236]曾光奇,胡均安.王东.模糊控制理论与工程应用.华中科技大学出版社.2006
[237]Zadeh.L.A,著,阮达,黄崇福编译.模糊集与模糊信息粒理论.北京师范大学出版社 2005
[238]David B R,Spatial signal processing for infrared detection.Publication:Proc.SPIE 2235:38-51.1994.
[239]Deshpande S D,Er M H,Ronda V.Max-mean and max-median filters for detection of small targets.SPIE,1999,3809(10):74-83.
[240]郑文龙,张涌,汤心溢,吴常泳.复杂背景下红外小目标实时识别方法研究.红外与毫米波学报.2001(6):400-436.
[241]Weber P.Haykin S.Order Statistics CFAR Processing for Two-parameter Distributions with Variable Skewness.IEEE Trans.on AES,1985,21(6):819-821.
[242]Rohling H.Radar CFAR Thresholding in Clutter and Multiple Target Situation.IEEE Trans.on AES,1983,19(4):608-621.
[243]Conte E,Ricci R.Performance Prediction in Compound-Gaussian Clutter.IEEE Trans.on AES,1994,30(2):611-616.
[244]B.S.Denney,R.J.P.de Figueiredo.Optimal point targetdetection using adaptive auto regressive background.Proc.SPIE.2000,4048:46-57.
[245]边肇祺.模式识别 第二版.清华大学出版社.2000
[246]汪马翔.基于PMU测量数据的暂念稳定预测分类特征选择.华北电力大学(河北) 2006.
[247]D B Reid.An algorithm for tracking multiple targets.IEEE Trans.AutomaticControl.1979(6):843-854.
[248]Blackman S S,Dempster R J,Busch M T.IMM/MHT solution to radar benchmark tracking problem.IEEE Trans.AES,1999,35(2):730-738.
[249]Bar-shalom Y,Fortmann T E.Tracking and data association.New York:Academic Press.1998:123-271
[250]Y.Bar-Shalom,X.R.Li and T.Kirubarajan,Estimation with Applications to Tracking and Navigation:Algorithms and Software for Information Extraction,J.Wiley and Sons,2001.
[251]胡永生.复杂背景中红外弱小目标探测方法研究.南京理工大学.2008
[252]周宏仁,敬忠良,王培德.机动目标跟踪.国防工业出版社.1993.
[253]夏明革,何友,唐小明等.舰载红外警戒系统发展概况及其关键技术评述.舰船电子工程.2002(2):8-13
[254]徐江丰,张涌,汤心溢等.大视场红外成像探测系统实时信号处理技术研究.红外与毫米波学报.2006(6):421-426
[255]毛玉星.胡旭.红外图像实时处理系统设计.红外技术.2003.(5):50-53
[256]W.Cabanski,R.Breiter Miniaturized High Performance Starring Thermal Imaging System.Proc.SPIE.2000,vol.4028:208-219
[257]李方慧等.TMS 320C6000系列DSPs原理与应用.北京:电子工业出版社.2003
[258]任爱锋.初秀琴等.基于FPGA的嵌入式系统设计第1版.西安:西安电子科技大学出版社.2004
[259]McCaffrey N.J.Very low cost real time histogram based contrast enhancer utilizing fixed-point DSP processing.Proc.SPIE.1998,vol.3303:36-43
[260]王海鹰.基于FPGA+DSP的模块化红外图像实时处理系统的研制.南京理工大学硕士学位论文.2004
[261]C.D.莫特钦巴切尔,F.C.菲特钦著,龙忠琪译.低噪声电子设计.北京:国防工业出版社.1977
[262]Altera Inc.Stratix Device Handbook.http://www.altera.com.cn/literature/hb/stx/stratix_handbook.pdf.2006.
[263]Ti Inc.TMS320C6204 Fixed-Point DSP(Rev.C).http://focus.ti.com/lit/ds/sprs152c/sprs152c.pdf.2004
[264]Texas Instruments Incorporated,译者:卞红雨,纪祥春,乔钢等.TMS320C6000系列DSP的CPU与外设.北京.清华大学出版社,2007
[265]Ti Inc.TMS320LF2407,TMS320LF2406,TMS320LF2402 DSP Controllers(Rev.I). http://focus.ti.com/lit/ds/sprs094i/sprs094i.pdf.2003
[266]杜尚丰,曹晓钟,徐津等编著,CAN总线测控技术及其应用.北京.电子工业出版社.2007
[267]李朝青,单片机原理及接口技术(第3版)..北京航天航空大学出版社.2005
[268]章云.DSP控制器及其应用.机械工业出版社,2006
[269]Ti Inc.TMS320DM642 Video/Imaging Fixed-Point Digital Signal Processor(Rev.L).2007