臺灣博碩士論文加值系統

追蹤目標物在雷達系統中，是一項極為重要的工作。藉由追蹤技術，可以瞭解目標的位置、動態等資訊，將偵測模組求得之訊號，分析出完整的目標物，並求得於連續的動態中彼此對應的關係，以達到追蹤的目的。其中又以資料相關結合技術、變速度之偵測與修正系統參數的數學運算為決定追蹤效果與精確度之最主要的關鍵。
本文中，嘗試利用蟻群最佳化(Ant Colony Optimization)結合資料結合技術，配合卡門濾波器當作其適應性變速度的補償，來建立一套系統化的目標追蹤模式。經由這個方式，有效地改進其系統的準確度。

Targets tracking is an extremely important task in the radar system. By tracking technique, we can know the information such as the location and the dynamic of targets. To get the complete targets by analyzing the signal that obtained by detection module, and seek the corresponding relationship between them in a continuous dynamic in order to achieve the purpose of tracking. The key developments of this subject are data association techniques and maneuvering targets’ estimation algorithm.
In this thesis, a systematic tracking mode is developed by using an adaptive filter consisting of a data association technique denoted Ant Colony Optimization together with Kalman filters as an adaptive maneuvering compensator. With this approach, the accuracy of tracking performance can be effectively improved.

目錄

封面內頁
簽名頁
授權書．．．．．．．．．．．．．．．．．．．．．．．． iii
中文摘要．．．．．．．．．．．．．．．．．．．．．．． iv
英文摘要．．．．．．．．．．．．．．．．．．．．．．． v
誌謝．．．．．．．．．．．．．．．．．．．．．．．．． vi
目錄．．．．．．．．．．．．．．．．．．．．．．．．． vii
圖目錄．．．．．．．．．．．．．．．．．．．．．．．． ix
表目錄．．．．．．．．．．．．．．．．．．．．．．．． x

第一章　緒論
1.1 研究動機．．．．．．．．．．．．．．．．．．．．． 1
1.2 研究方法．．．．．．．．．．．．．．．．．．．．． 2
1.3 論文結構．．．．．．．．．．．．．．．．．．．．． 3
第二章　卡門濾波器
2.1 簡介．．．．．．．．．．．．．．．．．．．．．．． 4
2.2 動態方程式．．．．．．．．．．．．．．．．．．．． 5
2.3 數學推導．．．．．．．．．．．．．．．．．．．．． 7
2.4 擴展型卡門濾波器．．．．．．．．．．．．．．．．． 10
2.5 相關性質．．．．．．．．．．．．．．．．．．．．． 13
第三章 蟻群最佳化
3.1 簡介．．．．．．．．．．．．．．．．．．．．．．． 16
3.2 演算法架構．．．．．．．．．．．．．．．．．．．． 16
3.3 運算方式．．．．．．．．．．．．．．．．．．．．． 19
第四章 資料相關結合技術
4.1 簡介．．．．．．．．．．．．．．．．．．．．．．． 21
4.2 Gating 理論．．．．．．．．．．．．．．．．．．． 21
4.3 One-Step Conditional Maximum Likelihood ．． 24
4.4 蟻群最佳化．．．．．．．．．．．．．．．．．．．． 25
第五章 變速度追蹤與適應性程序
5.1 簡介．．．．．．．．．．．．．．．．．．．．．．． 31
5.2 多目標追蹤系統之動態方程式．．．．．．．．．．．． 31
5.3 變速度追蹤與適應性程序．．．．．．．．．．．．．． 33
第六章 模擬分析
6.1 簡介．．．．．．．．．．．．．．．．．．．．．．． 38
6.2 單目標之變速度追蹤模擬分析．．．．．．．．．．．． 40
6.3 雙目標之變速度追蹤模擬分析．．．．．．．．．．．． 43
6.4 四目標之變速度追蹤模擬分析．．．．．．．．．．．． 46
第七章 結論．．．．．．．．．．．．．．．．．．．．． 52
參考文獻．．．．．．．．．．．．．．．．．．．．．．． 53


圖目錄

圖2.1 卡門濾波器系統方塊圖．．．．．．．．．．．．．． 4
圖2.2 卡門濾波器之詳細整體流程圖．．．．．．．．．．． 9
圖2.3 卡門濾波器之一步預估狀態流程圖．．．．．．．．． 15
圖3.1 蟻群覓食路徑示意圖．．．．．．．．．．．．．．． 17
圖3.2 蟻群最佳化求解問題之流程圖．．．．．．．．．．． 19
圖4.1 Gating 示意圖．．．．．．．．．．．．．．．．． 23
圖4.2 目標物與量測值之示意圖．．．．．．．．．．．．． 28
圖4.3 應用蟻群最佳化求解最佳量測值之流程圖．．．．．． 30
圖5.1 適應性卡門濾波器之工作流程圖．．．．．．．．．． 37
圖6.1 方法一之單目標追蹤軌跡圖．．．．．．．．．．．． 41
圖6.2 方法二之單目標追蹤軌跡圖．．．．．．．．．．．． 41
圖6.3 方法一與方法二之單目標誤差比較圖．．．．．．．． 42
圖6.4 方法一之雙目標追蹤軌跡圖．．．．．．．．．．．． 44
圖6.5 方法二之雙目標追蹤軌跡圖．．．．．．．．．．．． 44
圖6.6 方法一與方法二之雙目標位置誤差比較圖．．．．．． 44
圖6.7 方法一與方法二之雙目標速度誤差比較圖．．．．．． 45
圖6.8 方法一之四目標追蹤軌跡圖．．．．．．．．．．．． 48
圖6.9 方法二之四目標追蹤軌跡圖．．． ．．． ．．．．． 48
圖6.10方法一與方法二之四目標位置誤差比較圖．．．．．． 49
圖6.11方法一與方法二之四目標速度誤差比較圖．．．．．． 50


表目錄

表6.1 單目標追蹤之初始值．．．．．．．．．．．．．．． 40
表6.2 單目標之變速度區間設定．．．．．．．．．．．．． 40
表6.3 方法一與方法二之單目標誤差結果比較．．．．．．． 42
表6.4 雙目標追蹤之初始值．．．．．．．．．．．．．．． 43
表6.5 雙目標之變速度區間設定．．．．．．．．．．．．． 43
表6.6 方法一與方法二之雙目標誤差結果比較．．．．．．． 46
表6.7 四目標追蹤之初始值．．．．．．．．．．．．．．． 46
表6.8 四目標之變速度區間設定．．．．．．．．．．．．． 47
表6.9 方法一與方法二之四目標誤差結果比較．．．．．．． 51

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