共查询到20条相似文献，搜索用时 125 毫秒
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随着声源追踪技术不断创新发展,声源定位精准度不断改善,目标定位噪音相互混合的问题逐步增加。传统的声音目标被动定位算法,利用简单的平面阵实现目标的多点定位,无法满足当前声源多点定位的噪音相互混合特点的声源计算,使其声源追踪的速度、时间及轨迹定位率降低。为此,提出一种基于声音源头追踪的目标跟踪模型,通过量测噪声参数对声源目标状态进行精准的检测与识别,运用交互式定位算法对识别出的声源进行距离时间预测,建立声音源头追踪目标跟踪模型,对声源进行精准定位的过程。仿真实验表明,基于声音源头追踪的目标跟踪模型仿真,通过模型集设置特点以及各模型间的交互式跟踪模型算法,在跟踪速度、实时性、缩短跟踪时间及轨迹定位等方面都得到了很大的提高。 相似文献
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在视频无序运动目标实时跟踪中,无序性的出现会使所跟踪目标的尺寸和色彩等外观线索失去强度可靠性,跟踪目标的弱化会导致对目标地错误跟踪.为了克服这一问题,本文提出了一种基于改进无序运动数学形态特征的弱目标跟踪算法.该算法根据数学形态模型,分割出图像中的可跟踪特征,进行弱化特征增强,利用卡尔曼滤波预测各目标是否遇到是真实跟踪模型,在目标较为弱化的情况下,可以计算最佳定位信息更新目标信息.计算机仿真结果表明,所提出算法能够在保证实时性的前提下,在目标较为弱化的情况下,均能实现准确跟踪,并且跟踪结果令人满意. 相似文献
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目的:研究三维模型交互式定位确定断层图像感兴趣结构像素坐标值的方法。方法:提出一种结合VTK(Visualization Toolkit)可视化工具包的提取类库功能与针刺取点算法特点的方法,通过交互式操作获取三维模型世界坐标,实现断层图像结构定位。结果:以中国可视化人体数据集肠道数据为基础,构建了一段肠道三维模型。通过交互式定位技术得到断层图像感兴趣结构的像素坐标。结论:实验结果表明,该定位技术实现方法可行,具有良好的交互性和精确度。 相似文献
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无源雷达系统是基于机会照射源对目标进行定位、跟踪甚至识别的系统,这种雷达系统具有先进的系统架构与算法,应用前景十分广泛。本文提出一种基于地面数字电视广播信号的无源雷达用于车辆定位与跟踪的技术。首先分析DTMB （Digital Television Terrestrial Multimedia Broadcasting）信号作为非合作照射源的优势,提出了基于DTMB信号的无源雷达目标定位与跟踪的算法,然后通过构建试验平台,实地测量数据,利用MATLAB设计实时数据处理算法对移动车辆的运动状态进行定位与跟踪。实验结果表明,利用无源雷达进行移动车辆的定位与跟踪是完全可行的。 相似文献
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文章通过对大型工程投资决策中的冲突问题的分析,研究了交互式多目标协商模型在解决大型工程投资冲突问题中的应用;并以大型调水工程投资为例,利用交互式多目标协商模型进行协商决策,表明交互式多目标协商模型对大型工程冲突问题能够提供有效的决策支持。 相似文献
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The conventional interacting multiple model (IMM) algorithm will increase the computational load when applying a large number of models, meanwhile, it cannot yield accurate estimation results with a small number of models. Furthermore, the unknown target acceleration is regarded as an additional process noise to the target model, and its time-varying variance is hard to be approximated. The paper proposes a fuzzy-logic adaptive variable structure multiple model (FAVSMM) algorithm for tracking a high maneuvering target. The algorithm can optimize the model parameters using the model probability and construct an optimal model set quickly, and the fuzzy-logic IMM algorithm included in the FAVSMM algorithm is adopted for states estimation. The simulation results show that the proposed algorithm can match well with the actual target trajectory with less computational complexity and better accuracy. 相似文献
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《Journal of The Franklin Institute》2023,360(4):3407-3435
In this paper, we study a distributed state estimation problem for Markov jump systems (MJS) over sensor networks, in which each sensor node connects with each other through wireless networks with communication delays. We assume that each sensor node maintains a buffer to store delayed data transmitted from neighbor nodes. A distributed multiple model filter is designed by using the interacting multiple model methods (IMM) and a recursive delays compensation method. In order to ensure the stability, two stability conditions are derived for boundedness of estimation errors and boundedness of error covariance. Finally, the effectiveness of the proposed methods is illustrated by simulations and experiments of maneuvering target tracking. 相似文献
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主要研究了视频图像目标跟踪准确性问题。在基于核的颜色特征统计描述及以此建立视觉目标观测概率方法的基础上,提出了一种改进的粒子滤波视频图像目标跟踪算法。首先,本文给出了基于标准粒子滤波的单特征、单目标跟踪算法,然后针对加权样本参数的选择不同,提出改进思路,最后通过与基于均值移位视觉目标跟踪算法的实验结果对比。提出的改进的粒子滤波跟踪算法在稳健性方面有显著地提高,而且若适当选择视觉跟踪参数,在实时性方面能得到有效地保证。 相似文献
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在对目标进行纯方位跟踪时,伪线性卡尔曼滤波算法是一种有效的跟踪滤波方法,该方法可以很好地对目标运动状态进行估计。通过仿真证明了该方法降低了对模型精度的要求,具有较好的稳定性。 相似文献
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《Journal of The Franklin Institute》2022,359(6):2487-2513
To improve the path tracking control performance of the intelligent vehicle under critical maneuvers, a novel control strategy is introduced in this work. Considering that the tire cornering characteristics show high nonlinearities and uncertainties under those special driving conditions, a three-dimensional piecewise affine (PWA) identification method is proposed to realize the nonlinear modeling of the tire cornering characteristics for the first time. On this basis, the PWA model of the vehicle lateral dynamics is established. To obtain the vehicle target yaw rate for path tracking, a driver direction control model with adaptive preview time is put forward. Then, the linear quadratic optimal control method is further adopted to design multiple path tracking controllers for different working areas of the affine subsystems, thus the optimal steering angles of the front wheels can be generated to guarantee the path tracking performance for the intelligent vehicle under a wide range of driving conditions. Finally, to evaluate the performance of the proposed path tracking control strategy which considers the tire nonlinear cornering characteristics in the PWA form, the CarSim-Simulink co-simulation work is conducted. The co-simulation results show that the proposed control strategy presents significant performance advantages over the other two methodologies and demonstrates satisfactory path tracking control performance. 相似文献
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基于核密度相关度量的视频目标跟踪 总被引：1，自引：0，他引：1
传统的Mean shift 方法采用颜色直方图作为特征，以Bhattacharyya系数作为目标参考模板与当前帧中候选目标间的相似度量，通过迭代寻找距离函数的局部最小值，从而得到当前帧中的目标实际位置。由于颜色直方图仅仅描述了图像中目标的全局颜色分布而忽略了空间位置分布，使得当目标邻域中存在与目标相近似的颜色模式时，算法无法取得理想的跟踪效果。本文提出了基于核密度估计相关的距离度量，在描述参考目标和候选目标时，考虑到诸如颜色、梯度等目标像点的特征区间的同时，融入了目标像点的空间位置信息，使得跟踪算法更加稳健和精确，能够更好适应目标和背景变化复杂的应用场合。 相似文献
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针对传统图像预处理中图像信息损失的问题,提出基于小波变换的图像去噪和增强的算法。实验证明基于小波变换的图像预处理方法能在去噪和增强的同时,保留了图像在时间和空间域的信息,为视频录播后续的目标检测与跟踪提供了高质量图像,提高了录播系统的跟踪准确性。 相似文献
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Ming Chang Pai 《Journal of The Franklin Institute》2010,347(10):1837-1849
The problem of the robust tracking and model following for a class of linear systems with time-varying parameter uncertainties, multiple delayed state perturbations and external disturbance is investigated in this paper. The algorithm is based on the adaptive sliding mode control. The proposed method does not need a priori knowledge of upper bounds on the norm of the uncertainties, but estimates them by using the adaptation technique so that the reaching condition can be satisfied. This scheme guarantees the closed-loop system stability and zero-tracking error in the presence of time-varying parameter uncertainties, multiple delayed state perturbations and external disturbance. Finally, simulation results demonstrate the efficacy of the proposed control methodology. 相似文献
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在目标跟踪算法中,目标特征描述子和模板更新策略都是跟踪成败的关键。本文在选用区域协方差矩阵描述子的基础上,结合粒子滤波器算法,并且采用两种常用的模板更新方法,分别对商场通道监控视频序列中的行人进行了跟踪仿真实验。通过仿真分析并比较不同模板更新方法条件下的跟踪性能,从而在不同情况下选择合适的模板更新方法,以得到更精确的跟踪结果。 相似文献
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《Journal of The Franklin Institute》2023,360(10):6929-6952
Self-driving vehicles must be equipped with path tracking capability to enable automatic and accurate identification of the reference path. Model Predictive Controller (MPC) is an optimal control method that has received considerable attention for path tracking, attributed to its ability to handle control problems with multiple constraints. However, if the data acquired for determining the reference path is contaminated by non-Gaussian noise and outliers, the tracking performance of MPC would degrades significantly. To this end, Correntropy-based MPC (CMPC) is proposed in this paper to address the issue. Different from the conventional MPC model, the objective of CMPC is constructed using the robust metric Maximum Correntropy Criterion (MCC) to transform the optimization problem of MPC to a non-concave problem with multiple constraints, which is then solved by the Block Coordinate Update (BCU) framework. To find the solution efficiently, the linear inequality constraints of CMPC are relaxed as a penalty term. Furthermore, an iterative algorithm based on Fenchel Conjugate (FC) and the BCU framework is proposed to solve the relaxed optimization problem. It is shown that both objective sequential convergence and iterate sequence convergence are satisfied by the proposed algorithm. Simulation results generated by CarSim show that the proposed CMPC has better performance than conventional MPC in path tracking when noise and outliers exist. 相似文献