臺灣博碩士論文加值系統

在雷達追蹤系統中，由於外在複雜環境及雜訊干擾的因素，使得雷達追蹤感測器在所偵測到的訊號中，除了正確的目標量測值外，往往也包含著各種雜訊，進而引起追蹤上的誤差，減低系統的效能。
本論文針對不同功率的雜訊，應用本論文中所提之追蹤技術，去完成目標追蹤的預測值與誤差修正，以資料相關結合和適應性擴展型卡門濾波器技術，配合著One-Step Conditional Maximum Likelihood技術，由這樣的方式，可以預估目標變速度運動所產生的誤差，並且減少系統作不必要的運算，使系統獲得最佳的效能。

In a radar system, it usually has more measurement plots than the number of target tracks because of the complicated tracking environment and noise outsides.
The key developments of this subjest are association and maneuvering target detection algorithm.
In this thesis, the author intends to combine Data Association Algorithm and Adaptive Extended Kalman Filter, combines with the technical data of One-Step Conditional Maximum Likelihood. Via this approach, the tracking procedure and error estimation can be obtained. Target maneuvering productive great errors can be decreased and the tracking system will obtain better performace.

目錄
封面內頁
簽名頁
博碩士論文授權書…………………………………………………iii
中文摘要……………………………………………………………iv
英文摘要……………………………………………………………v
誌謝…………………………………………………………………vi
目錄…………………………………………………………………vii
圖目錄………………………………………………………………ix
表目錄………………………………………………………………xiv
第一章　緒　論 ……………………………………………………1
1.1 研究動機與背景 ………………………………………………1
1.2 研究方法與步驟 ………………………………………………2
1.3 論文結構 ………………………………………………………3
第二章 雷達系統與濾波器之介紹…………………………………5
2.1雷達系統的原理與應用…………………………………………5
2.2 濾波器原理……………………………………………………14
2.3卡門濾波器之系統模式定義 …………………………………16
2.3.1卡門濾波器之理論推導 ……………………………………18
2.3.2擴展型卡門濾波器 …………………………………………22
第三章 適應性追蹤理論 ………………………………………25
3.1 簡介……………………………………………………………25
3.2多目標追蹤程序 ………………………………………………25
3.2.1追蹤起始 ……………………………………………………26
3.2.2追蹤相互關係 ………………………………………………26
3.2.3追蹤更新 ……………………………………………………27
3.2.4軌跡刪除 ……………………………………………………27
3.3 數學模式的建立………………………………………………28
3.4 變速度追蹤理論………………………………………………31
第四章 相關資料結合技術 ………………………………………35
4.1資料相關結合 …………………………………………………35
4.2 PDA理論 ………………………………………………………36
4.3 One-step conditional maximum likelihood理論 ………42
第五章　電腦模擬分析與討論……………………………………45
5.1定速度雙目標追蹤模擬分析 …………………………………46
5.2變速度雙目標追蹤模擬分析 …………………………………65
第六章　結論………………………………………………………101
參考文獻……………………………………………………………102

[1]R. Perry, A. Vaddiraju, K. Buckley, “Multitarget List Viterbi Tracking Algorithm,” IEEE Signals, Systems & Computers, Vol. 1, P.p 436-440, 1998. Conference.
[2]K.C. Chang, S. Mori, and C.Y. Chong, “Evaluating a Multiple-Hypothesis Multitarget Tracking Algorithm,” IEEE Trans. Aerospace. Electron.Syst., Vol. 30, No2, P.p 578-590, 1994.
[3]F. Xingxi, L. Zuoliang, S. Lei, “Maneuvering Target Tracking Using Real-Time Input Estimation,” Radar, 1996. Proceedings., CIE International Conference of , P.p 731-734, 1996.
[4]M.G.S. Bruno ,and J.M.F. Moura, ” Radar/Sonar Multitarget Tracking,” OCEANS '98 Conference Proceedings , Volume. 3, P.p 1422-1426, 1998.
[5]E. Emre and J. Seo, “A Unifying Approach to Multi-Target Tracking,” IEEE Trans. Aerosp. Electron. Syst., Vol AES-25,
P.p.520-528, 1989.
[6]Y.N. Chung and D.L. Gustafson , and E. Emre, “Extended Solution to Multiple Maneuvering Target Tracking,” IEEE Trans. Aerosp Electron. Syst.Vol AES-25, P.p.876-887, 1990.
[7]Y.N. Chung and Y.N. Hu, “A Decentralized Estimation Approach for Target Tracking Problems,” to appear in Journal of Control Systems and Technology, Vol. 1, No.4, P.p303-310,1993.
[8]Y.N. Chung and Joy Chen, “Applying Both Kinematic and
[9]Attribute Information for A Target Tracking Algorithm,” J. of Control Syst. And Technology, Vol.5, No.3, P.p.203-209, 1997.
[10]K.C. Chang,C.Y. Chong, andY. Bar-Shalom,“Joint Probabilistic Dataand Association Distributed Sensor Networks” IEEE Trans. Automa. Contr., Vol. AC-31, P.p.889- 897, 1986.
[11]K.C. Chang and Y. Bar-Shalom, “Joint Probabilistic for Muti-target Tracking with Possibly Unresolved Measurement and Maneuvers,” IEEE Trans. Automa. Contr.,Vol. AC-29, P.p585-594, 1984.
[12]R.A. Singer,” Estimating Optimal Tracking Filter Performance for Manned Maneuvering Targets,” IEEE Trans. On Aerosp. and Electron. Syst., Vol. AES-5, pp. 473-483, July 1970.
[13]Y.N. Chung, C.C. Yu and T.W. Huang, “An Adaptive Algorithm for Radar Tracking Systems,” 4th Pacific International Conf. On Aerospace Science and Technology, P.p.207-211, 2001.
[14]Roecker, J.A. and C.D. McGillem, “Target Tracking in aneuver Centered Coordinates,“IEEE Trans. Aerosp. Electron. Syst., Vol. 25, No.6 pp. 836- 843 (1989).
[15]Singer, R.A., “Esitmating Optimal Tracking Filter Performance for Manned Maneuvering Targets,” IEEE Trans. Aerosp. Electron. Syst., Vol. AES-5, pp. 473-483 (1970).
[16]Singer, R.A. and K.W. Behnke, “Real -Time Tracking Filtering Evaluation and Selection for Tactical Applications,” IEEE Trans. Aerosp. Electron. Syst., Vol. AES-7,No.1, pp.100-110 (1982).
[17]Tugnait, J.K., “Detection and Estimation for Abruptly Changing Systems,” Automatic, Vol.18, No 5, pp. 607-615 (1978).
[18]Van Keuk, G., “Software Structure and Sampling Strategy for Automatic Target Tracking with a Phase Array Radar,” AGARD Conf., Proc. No.252, Strategies for Automatic Track Initiation, Monterey CA., pp. 11-1 to 11-13 (1978).
[19] Wang, T.C. and P.K. Varshney, “A Tracking Algorithm Maneuvering Targets,” IEEE Trans. Aerosp. Electron. Syst., Vol. 29 , No. 3 pp.910-925 (1993).
[20]洪志弘，“雷達多目標變速度估測與適應系統之研究”，私立大葉大學碩士論文，2000.
[21]余俊慶，“雷達適應性掃描速率追蹤系統之研究”，私立大葉大學碩士論文，2001.
[22]現代實用船舶雷達(上)，國立編譯館主編，徐氏基金會出版，1991.
[23]現代實用船舶雷達(下)，國立編譯館主編，徐氏基金會出版，1991.
[24]雷達觀測教材，江國地等編著，幼獅文化事業公司出版，1985