考虑盲区的多移动传感器地面目标检测跟踪调度方法

doi:10.12305/j.issn.1001-506X.2023.02.16

摘要/Abstract

摘要：

针对地面目标检测跟踪任务以多移动传感器系统为调度对象, 提出一种考虑盲区的传感器调度方法。首先, 建立了目标检测模型, 基于贝叶斯风险理论给出了目标检测损失的计算方法以评估检测性能。然后, 考虑多普勒盲区和视野盲区的影响, 建立了目标跟踪模型, 并给出了基于盲区信息辅助的目标跟踪算法以应对盲区出现时目标状态估计问题。最后, 建立了传感器优化调度模型, 结合检测损失、跟踪精度、传感器能耗等因素建立了目标优化函数。仿真结果表明, 所提调度方法能够有效解决多移动传感器协同调度问题, 所得的最优调度方案可在兼顾检测性能、跟踪性能和控制能耗的同时, 使整体作战收益达到最佳。

关键词: 传感器调度, 移动传感器系统, 目标检测, 目标跟踪, 多普勒盲区, 视野盲区

Abstract:

For the task of ground target detection and tracking task, a sensor scheduling method considering the blind zone is proposed with a multi-mobile-sensor system as the scheduling object. Firstly, a target detection model is developed and a calculation method of the target detection loss is given to evaluate the detection performance based on Bayesian risk theory. Then, a target tracking model is established considering the effects of Doppler blind zone and visual blind zone, and a target tracking algorithm based on blind zone information assistance is given to achieve the target state estimation when blind zones appear. Finally, a sensor optimal scheduling model is established, and the object optimization function is built combined with the detection loss, tracking accuracy, and sensor energy consumption. The simulation results show that the proposed scheduling method can effectively solve the multiple mobile sensors cooperative scheduling problem, and the corresponding optimal scheduling scheme can optimize the overall operational gain while balancing the detecting loss, tracking accuracy, and energy consumption.

Key words: sensor scheduling, mobile sensor system, target detection, target tracking, Doppler blind zone, visual blind zone

中图分类号:

TP212

张昀普, 单甘霖, 黄燕, 付强. 考虑盲区的多移动传感器地面目标检测跟踪调度方法[J]. 系统工程与电子技术, 2023, 45(2): 453-464.

Yunpu ZHANG, Ganlin SHAN, Yan HUANG, Qiang FU. Multiple mobile sensors scheduling method for ground target detection and tracking considering blind zone[J]. Systems Engineering and Electronics, 2023, 45(2): 453-464.

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调度方法	目标1 RTAMSE		目标1 盲区平均出现次数		目标2 RTAMSE		目标2 盲区平均出现次数
调度方法	位置/m	速度/(m/s)	多普勒盲区	视野盲区	位置/m	速度/(m/s)	多普勒盲区	视野盲区
本文方法	13.48	10.76	2.75	0.83	15.14	8.73	3.11	1.43
方法1	34.8	12.80	5.00	13.14	23.61	10.51	7.11	7.02
方法2	10.52	9.15	2.15	0.10	13.05	7.56	2.55	0.20

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