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

Abstract

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

CLC Number:

TP212

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.

Figures/Tables 11

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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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Multiple mobile sensors scheduling method for ground target detection and tracking considering blind zone

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编号	初始位置/km	距离标准差/m	方位角标准差/mrad	径向速度标准差/(m/s)	检测概率/%	虚警概率/%	检测能耗	跟踪能耗	机动能耗	信息收发能耗
1	(0, 4)	10	5	5	99	1	15	12	3	4
2	(2, 2.5)	10	8	5	98	2	14	11	3	4
3	(3.5, 2)	12	8	10	98	3	14	10	2	4
4	(2.5, 4.5)	15	10	10	96	5	11	8	2	4
5	(3, -1)	18	10	15	95	6	10	7	1	4
6	(-0.5, 2)	20	15	15	94	8	9	6	1	4
7	(1, 0)	25	15	20	92	8	8	5	1	4
8	(-1, -1)	25	20	20	90	10	6	4	1	4