Television tracking systems; Real time measurement; Median filter; Signal noise ratio.
电视跟踪系统；实时测量；中值滤波器；信噪比
Beijing Institute of Radio Measurement - radar, communication and electronics, precision tracking and guidance radar, instrumentation radar, intelligence surveillance radar, weather radar, vessel and air traffic control radar system, precision antenna, feed system and servo control system, high stability, multi-waveform transmitting system, various precision low noise receiving system, digital signal processing and data processing technology, signal simulator, display system, TV tracking system and automatic test system, computer applications including computer control, business management and simulation technique, network engineering, radar mechanical design, technology and quality control, microwave ferrite material and device, microwave mixed integrated circuit device, surface acoustic wave technology and device, broadcast transmitter and satellite communication station
中国航天科工集团北京无线电测量研究所-雷达、通讯、电子信息、综合系统，精密跟踪制导雷达、测量雷达；情报警戒雷达、气象雷达、空中及港口交通管制雷达系统工程；精密天线、馈线及控制伺服系统；高稳定性、多波形发射系统；高精度、低噪声接收系统；数字信号处理和数据处理技术；信号模拟、信号显示技术、电视跟踪、自动测试系统；计算机应用、控制、事务管理、仿真技术、网络工程；雷达结构、工艺和质量控制研究；微波铁氧体材料与器件；微波混合集成电路器件；声表面波技术与器件、广播发射机、卫星通讯站
Angle flicker noise; Angle tracking error; Spectrum analyzing; Spectrum estimating; Model verifying
角闪烁；角跟踪误差；频谱分析法；谱估计；验模
Carrier phase-locked tracking and carrier frequency-locked tracking are analyzed and compared, conclusion is drawn that thermal noise characteristics and dynamics characteristics of both tracking loops complement each other. Integrated phase-locked and frequency-locked tracking strategy is proposed to keep dynamics performance and tracking precision at same time while 4-quadrant frequency discriminator is used to speed up carrier acquisition.
对载波频率跟踪与载波相位跟踪的性能进行了分析和比较，讨论了环路参数对GPS载波跟踪的影响，得出了频率跟踪与相位跟踪的噪声性能与动态性能互补的结论，并以此为基础提出了适应载体动态的载波跟踪策略，使得跟踪环能够同时满足动态性能与跟踪精度的要求。
Due to the complexity the application circumstance, it is difficult to describe the noise statistics of integrated navigation system accurately This may cause the general Kalman filter unstability even divergence This paper present a modified adaptive filter algorithm to estimate states by combination of Sage Husa adaptive filter and strong tracking Kalman filter based on the summarize and analysis to the adaptive filter method in common use to solve this problem The computer simulation result for GPS...
随着组合导航系统应用环境的日趋复杂，给噪声统计特性的准确描述带来困难，这将造成Kalman滤波器不稳定甚至发散。首先对目前解决此问题常用的自适应滤波方法进行了总结和分析，在此基础上，给出了基于滤波收敛性判据，结合 Sage-Husa自适应滤波和强跟踪 Kalman滤波的改进自适应滤波算法。最后以 GPS/ INS组合导航系统为例进行了计算机仿真，结果表明：该算法可有效抑制滤波发散，具有较大范围的自适应能力
Results Furthermore, a modified ULV updating algorithm is applied to performing noise subspace tracking.
结果 使用一种修改的ULV更新算法进行噪声子空间跟踪。
In the actual course of target tracking, the observation noise is changing at any time because of the impact of the distance between the target and the radar and other reasons.
在实际的目标跟踪过程中，由于目标远近等各种客观因素的影响，观测噪声是随时变化的。
For the image filtering, the comparison of some ready-made methods is included through the analysis of noise based on tracking system.
图像滤波方面，通过分析跟踪系统的噪声特点，试验对比了已有的均值滤波、边缘锐化和中值滤波等空间域滤波方法。
Based on the theory, the effects of GNSS signal characters and receiver parameters on code tracking performance in white noise environment are discussed in detail.
基于该理论模型，对高斯白噪声环境中的码跟踪精度进行了分析，并从导航信号特征和接收机参数两个方面对码跟踪精度进行了深入讨论。
The performances of dynamic tracking and noise of DDLL is studied, as a result, it is necessary to design the loops with various loops bandwidth according to the applications of various system dynamic in order to optimize the DDLL performance.
4对DDLL的动态跟踪性能与噪声特性进行了研究，从而提出根据不同的系统动态特点来设计不同的环路带宽优化DDLL的特性。
A new algorithm for maneuvering target tracking in noise environment using wavelet transform, multiresolutional multiple-model target tracking, is introduced.
介绍了一种用于噪声中机动目标跟踪的小波变换新算法――多分辨率多模型目标跟踪方法。
An algorithm based on the unscented particle filter was proposed which was introduced to radar target tracking based on the glinst noise statistical model.
提出了将粒子滤波与无迹变换结合的改进粒子滤波算法UPF应用在雷达目标跟踪中，解决了闪烁噪声情况下雷达目标跟踪问题。
For the measurement noise problem, this note proposes a real time filter based on frequency analysis, which is capable of tracking large-scale maneuvering target.
针对测量数据的噪声，提出了一种基于频率分析的实时滤波方法，能够有效地跟踪大范阎机动目标的运动。
To some extent, it can eliminate most background noise, and enhance the ability of anti-disturbance of the tracking system.
在图像分割中采用了由粗到精的两步分割的策略。
The simulation results indicate that H_∞mixed sensitivity controller with PI current loop can improve the capability of low frequency noise enhancement and high frequency enervation in wide frequency band, and attenuate noise of torque sensor. The designed control system for EPS system exhibits good robust performances in assist tracking and anti-disturbance, greatly enhances the returnability, driver's steering feel, handling characteristic.
通过仿真结果分析表明基于PI电流环的混合灵敏度鲁棒H_∞控制器能在较宽频带范围内增强地面低频信号、削弱高频信号和抑制转矩传感器的噪声，所设计的控制器有较强鲁棒性，助力跟踪能力和抗干扰能力，能有效改善车辆的转向回正特性，提供给驾驶员较为满意的路感，提高车辆的转向操纵性能。
Experimental results show that the method proposed in this paper can resist noise and realize real-time and robust tracking.
实验结果表明，本文方法具有较高的抗噪声能力、跟踪实时性和准确性。
By deriving the initial alignment errors equation of SINS, and considering the gyro drift and the accelerometer bias, the paper first introduces the nonlinear errors model with large heading uncertainty. Then, through computer simulating, the paper discusses the reason of nonlinear robust extend Kalman filter divergence, and based on the practical errors model, simplifies the arithmetic of nonlinear robust extended Kalman filter. And then, because nonlinear robust expanded Kalman filter has high adaptive ability but diverges easily, the paper presents a modified nonlinear adaptive filter algorithm based on literature [1], which not only could ensure the accuracy of alignment, but also could improve the ability of adaptive. Finally, when the extended Kalman filter, nonlinear strong tracking adaptive Kalman filter, nonlinear robust extend Kalman filter and modified nonlinear adaptive Kalman filter are used to simulate the nonlinear system, the paper analyses the level alignment accuracy and heading alignment accuracy of these filters under different errors, including model error and noise error.
本文首先针对大失准角的非线性系统，通过推导捷联惯导系统的误差方程，并考虑陀螺仪的随机漂移误差和加速度计的随机偏差，建立方位大失准角情况下的非线性对准模型：其次通过对非线性鲁棒扩展卡尔曼滤波算法的仿真研究，提出目前常用的非线性鲁棒扩展卡尔曼滤波算法在实际应用中所存在的发散问题，并分析归纳该算法导致滤波发散的主要原因，根据实际模型简化滤波算法，减少滤波计算量；然后，针对非线性鲁棒扩展卡尔曼滤波自适应能力强但易发散的特点，将文献[1]所提出的改进型的Sage-Husa自适应噪声估计算法推广到非线性系统，探讨了一种既保证滤波的精度又提高自适应能力的改进型非线性自适应卡尔曼滤波；最后，将扩展卡尔曼滤波、非线性强跟踪自适应滤波、非线性鲁棒扩展卡尔曼滤波和改进型非线性自适应滤波应用于捷联惯导系统的非线性对准中，分析不同滤波器在噪声误差和模型误差条件下，对水平失准角和方位失准角滤波精度的影响。
From the simulation results and the research, it is found that (1) the performance of the presented method is superior to that of the fixed false alarm probability method; (2) only when the signal to noise ratio is greater than a certain value (in Rayleigh clutter environment, the value is 1.57 for 2 dimensional measurement and four-sigma validation gate), the adaptive optimization of detection thresholds for tracking in Rayleigh fading clutter environment can be obtained.
通过研究和仿真发现：在滤波稳定阶段，本文给出的自适应信号检测门限方法的跟踪性能优于固定虚警率方法的跟踪性能；基于先验检测门限优化准则实现检测-跟踪的联合优化要求信噪比要大于一定的门限，在瑞利起伏环境下，对2维测量和4-sigma确认门，该门限为1.57。
By studying current statistical model and Constant Acceleration model for target tracking, a modified constant acceleration model is presented based on CA model by using the difference between the predicted speed and real-time estimated speed value, which adaptively adjust its the covariance matrix of process noise.
0引言在军事和民用领域如空防和空中交通管制中，可靠而精确地跟踪目标始终是目标跟踪系统设计的主要目的[1]。目前建立数学模型是目标跟踪数据处理中的一个重要环节。近30年来，有不少学者对模型问题进行了探讨，所提模型各具特点[1-3]。其中最具代表性的是Singer模型。
To improve the tracking precision of maneuvering target under glint noise, that is a filtering problem of nonlinear non-Gaussian system in essence. A Gaussian Hermitian filtering method is applied to generate the important density function of particle filter, such that the degeneracy problem of standard PF is solved to some extent.
闪烁噪声环境下的机动目标跟踪实质上是一个非线性非高斯系统滤波问题，为了提高跟踪精度，应用高斯-厄米特滤波方法来产生粒子滤波器的重要密度函数，解决了PF算法的粒子退化问题，并给出了基于高斯-厄米特粒子滤波器的闪烁噪声机动目标跟踪算法。