本书系统、全面地介绍了目标定位跟踪领域的研究成果，主要内容包括估计理论和滤波方法、目标定位方法、目标跟踪基本方法、基于多传感器信息融合的目标跟踪。此外，本书还给出了一些目标定位跟踪方法应用的案例。 本书可作为高等院校火力指挥与控制工程、指挥自动化专业本科生或研究生的教材或参考书，还可供信息工程、雷达工程、电子对抗、声呐工程、军事指挥等领域的科研人员和工程技术人员参考。

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第 1 章 绪论 ····························································································.1
1.1 引言 ····························································································.1
1.2 目标跟踪的基本概念 ·······································································.2
1.3 目标跟踪问题的研究历史和发展概况 ··················································.5
1.4 本书的内容组织 ·············································································.6
思考题································································································.7
第 2 章 估计理论和滤波方法 ·······································································.8
2.1 概述 ····························································································.8
2.2 估计理论 ······················································································.8
2.2.1 问题描述··············································································.8
2.2.2 估计值的统计特性··································································.9
2.2.3 最小均方估计········································································11
2.2.4 极大后验估计和极大似然估计·················································.13
2.2.5 线性最小均方估计································································.15
2.2.6 最小二乘估计和加权最小二乘估计···········································.17
2.3 滤波方法 ····················································································.19
2.3.1 线性系统的概念···································································.19
2.3.2 状态方程和量测方程·····························································.22
2.3.3 两点外推滤波······································································.24
2.3.4 线性递推最小二乘滤波··························································.26
2.3.5 线性卡尔曼滤波···································································.28
2.3.6 常增益滤波·········································································.38
2.3.7 非线性滤波·········································································.43
小结·································································································.52
思考题······························································································.52
第 3 章 目标定位方法 ··············································································.55
3.1 概述 ··························································································.55
3.2 空间几何基础 ··············································································.55
3.3 坐标系和坐标转换 ········································································.58
3.3.1 定位坐标系·········································································.59
3.3.2 不同坐标系间的数据转换·······················································.60
3.3.3 观测量的站间坐标转换··························································.65
3.4 定位误差的度量 ···········································································.70
3.4.1 三维正态分布······································································.70
3.4.2 等概率密度误差椭球·····························································.70
3.4.3 落入误差球的概率································································.71
3.4.4 球概率误差和圆概率误差·······················································.72
3.5 单站球坐标测量定位方法 ·······························································.73
3.5.1 定位的一般方法···································································.73
3.5.2 定位误差分析······································································.74
3.6 多站斜距离测量定位方法 ·······························································.75
3.6.1 定位原理············································································.75
3.6.2 定位的可实现性···································································.77
3.6.3 定位误差············································································.78
3.7 多站无源定位方法 ········································································.81
3.7.1 测向交叉定位法···································································.81
3.7.2 测时差定位法······································································.83
3.8 无线传感器网络节点定位算法 ·························································.90
3.8.1 基于距离的定位算法·····························································.90
3.8.2 距离无关的定位算法·····························································.92
小结·································································································.94
思考题······························································································.94
第 4 章 目标跟踪基本方法 ········································································.95
4.1 概述 ··························································································.95
4.2 坐标系的选择 ··············································································.96
4.2.1 极坐标系············································································.97
4.2.2 直角坐标系·········································································.98
4.3 数据预处理 ················································································.100
4.3.1 野值剔除···········································································.100
4.3.2 数据压缩···········································································.102
4.4 跟踪起始 ···················································································.103
4.4.1 航迹建立方式·····································································.104
4.4.2 航迹头选择········································································.104
4.4.3 航迹建立举例·····································································.105
4.4.4 航迹建立准则·····································································.106
4.5 航迹相关 ···················································································.106
4.5.1 航迹相关过程·····································································.107
4.5.2 航迹相关的一般步骤····························································.113
4.5.3 典型航迹相关方法·······························································.114
4.6 目标运动模型 ·············································································.121
4.6.1 目标运动特性·····································································.121
4.6.2 典型目标运动模型·······························································.123
4.7 量测模型 ···················································································.129
4.7.1 传感器坐标模型··································································.129
4.7.2 笛卡儿坐标模型··································································.130
4.7.3 量测转换分析·····································································.131
4.8 不同模型下的跟踪滤波方法 ···························································.135
4.8.1 基于 CV 模型的卡尔曼滤波算法 ·············································.135
4.8.2 基于 CA 模型的卡尔曼滤波算法 ·············································.137
4.8.3 基于机动目标“当前”统计模型的卡尔曼滤波算法 ·····················.139
4.9 机动目标跟踪方法 ·······································································.140
4.9.1 机动检测自适应滤波····························································.141
4.9.2 实时辨识自适应滤波····························································.145
4.9.3 全面自适应滤波··································································.146
4.10 航迹质量管理 ···········································································.150
4.10.1 基本概念 ·········································································.150
4.10.2 航迹管理方法 ···································································.150
小结································································································.152
思考题·····························································································.152
第 5 章 基于多传感器信息融合的目标跟踪 ··················································.154
5.1 概述 ·························································································.154
5.1.1 信息融合的定义··································································.154
5.1.2 多源信息融合模型·······························································.154
5.2 时间与空间配准 ··········································································.158
5.2.1 问题描述···········································································.158
5.2.2 时间配准算法·····································································.160
5.2.3 空间配准算法·····································································.161
5.3 航迹及其融合 ·············································································.171
5.3.1 基本概念···········································································.171
5.3.2 航迹关联···········································································.173
5.3.3 航迹融合···········································································.181
小结································································································.187
思考题·····························································································.187
第 6 章 目标定位跟踪方法应用 ·································································.188
6.1 概述 ·························································································.188
6.2 火炮射击协同式检靶方法研究 ························································.188
6.2.1 常用检靶手段及分析····························································.188
6.2.2 基于 UWB 定位的协同式检靶手段 ··········································.189
6.3 无线声呐浮标网络目标跟踪系统 ·····················································.192
6.3.1 问题描述···········································································.193
6.3.2 目标跟踪算法·····································································.194
6.3.3 仿真分析···········································································.196
6.4 无人机姿态误差对目标定位精度的影响研究 ······································.200
6.4.1 无人机姿态对测量目标点位置误差影响的数学模型 ·····················.201
6.4.2 目标点位置误差的表示方法···················································.202
6.4.3 仿真分析···········································································.203
6.5 视觉目标跟踪方法和应用研究 ························································.206
6.5.1 海上水柱目标检测跟踪问题描述·············································.207
6.5.2 基于动态特征的海上弹着点水柱检测跟踪算法 ···························.208
6.5.3 实验结果与分析··································································.213
小结································································································.218
思考题·····························································································.218
参考文献 ·······························································································.219