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研究生:何昇運
研究生(外文):Sheng-Yun Hou
論文名稱:快速預估方位演算法於三維空間寬頻訊號追蹤之應用
論文名稱(外文):Application of Fast Predictive Bearing Algorithm in 3D Wideband Signal Tracking
指導教授:張順雄張順雄引用關係
指導教授(外文):Shun-Hsyung Chang
學位類別:碩士
校院名稱:國立海洋大學
系所名稱:電機工程學系
學門:工程學門
學類:電資工程學類
論文種類:學術論文
論文出版年:2002
畢業學年度:90
語文別:中文
中文關鍵詞:聲納訊號處理陣列天線方位追蹤卡爾曼濾波器快速預估方位追蹤
外文關鍵詞:SONAR signal processingAntenna arrayDOA trackingKalman FilterFPAT
相關次數:
  • 被引用被引用:1
  • 點閱點閱:190
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  • 下載下載:0
  • 收藏至我的研究室書目清單書目收藏:0
臺灣地處於地震頻繁區域以及維繫亞太安全和海峽兩岸和平重要的樞紐。
應用地震源探勘、聲納、雷達等技術來追蹤訊號源位置,是刻不容緩的事。因此,
本論文主要探討如何以被動式均勻感測器陣列系統,來追蹤多重寬頻訊號源於三維空間參數。
許多方位追蹤演算法都遭遇到計算量過大的問題,主要因為太依賴在自相關矩陣之計算。
因此,我們提出一個建構在卡爾曼濾波器之下新的方位追蹤演算法,命名快速預估角度演算法,
其最大特點是此演算法是在單一的訊號源快取下動作,所以只需要較低的計算量且反應速度快,
更適合追蹤快速移動的目標物,並加入一個限制角度更新量的權重矩陣,
來克服交叉點附近移動所產生異常大角度變化而造成方位誤差。
快速預估角度演算法避免了傳統方位追蹤演算法之特徵分解、頻譜掃描及自相關矩陣等耗時工作,
達到了即時處理之需求。而利用卡爾曼濾波器的預估特性,更可避免資料結合的問題產生。
並由窄頻訊號追蹤觀念推廣至傳統的同調訊號子空間法,修正為可適性寬頻訊號方位追蹤演算法以準確地估測出訊號源在三維空間的位置。

Taiwan is located in an area of frequent earthquake. Besides,
it's also an important pivot not only to defend the safety of Asia-Pacific area but also to keep the peace of the Strait of Taiwan.
It's of great urgency to track the sources bearing using the methods of such as seismology,
sonar, and radar. Therefore,
this thesis proposed a new method to track the multiple wideband signal in 3-D space by using passive uniform sensor array.
Many algorithm for direction of arrival (DOA) tracking suffer heavy computational complexity because of the sample covariance matrix computation.
We proposed a new DOA tracking algorithm that uses the Kalman filter,
which is that Fast Predictive Angle Tracking (FPAT) algorithm.
Because this proposed algorithm is based on a single snapshot,
it requires low computational complexity and is able to track quickly.
It is fit to track when targets are even moving fast.
A weight matrix which restrain the angle innovation is used to overcome bearing disjudgement caused by abnormally large angular
innovation when the targets are at crossing point or near by.
We believe FPAT is able to avoid the process of eigendecompoistion, spectrum scanning, covariance matrix in conventional tracking algorithm,
and that fits the needs of real-time processing.
It also applies the prediction characteristic of Kalman filter to prevent the problem of data association.
We combine the coherent signal subspace (CSS) with the narrowband FPAT algorithm discussed above to track the wideband signal bearing.
This wideband signal tracking method is modified as adaptive wideband signal tracking algorithm,
that can estimate precise judgment of bearing in 3-D space.

第一章 序論
1.1 ~ 背景簡介 .................................... -1-
1.2 ~ 相關文獻 .................................... -2-
1.3 ~ 研究動機和目的............................... -5-
1.4 ~ 各章節內容概述 .............................. -6-
第二章 窄頻訊號之方位追蹤
2.1 ~ 簡介 ......................................... -8-
2.2 ~ 陣列訊號處理 ................................. -10-
2.2.1 ~窄頻訊號模式 ................................ -10-
2.2.2 ~基本假設 .................................... -11-
2.3 ~ 方位之追蹤原理 ............................... -13-
2.3.1 ~基本假設 .................................... -13-
2.3.2 ~基本推導 .................................... -14-
2.4 ~ 電腦模擬 ..................................... -17-
第三章 以卡爾曼濾波器為基礎之方位追蹤
3.1 ~ 卡爾曼濾波器運算流程 ......................... -26-
3.2 ~ 預估角度追蹤演算法 ........................... -29-
3.3 ~ 延伸卡爾曼濾波器原理 ......................... -33-
3.4 ~ 建構在延伸卡爾曼濾波器之快速方位追蹤 ......... -36-
3.5 ~ 電腦模擬 ..................................... -40-
第四章 三維空間快速預估角度之方位追蹤
4.1 ~ 快速預估角度追蹤演算法 ....................... -52-
4.2 ~ 三維空間之距離、仰角和旋轉角追蹤 ............. -58-
4.3 ~ 電腦模擬 ...............;..................... -63-
第五章 可適性寬頻訊號方位之追蹤
5.1 ~ 寬頻訊號模式 ................................. -77-
5.2 ~ 寬頻訊號方位估測 ............................. -79-
5.21 ~ 非同調訊號子空間法 .......................... -80-
5.22 ~ 同調訊號子空間法 ............................ -82-
5.3 ~ 可適性寬頻訊號方位之追蹤 ..................... -85-
5.31 ~ 同調訊號子空間法 ............................ -86-
5.4 ~ 電腦模擬 ..................................... -92-
第六章 結論及未來研究方向
6.1 ~ 結論 ......................................... -103-
6.2 ~ 未來研究及發展方向 ........................... -104-
參考文獻 ........................................... -105-

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