首页 > 科技 > 军事 > 其他

目标定位跟踪方法与实践（第2版）

作译者：石章松等

出版时间：2025-11 千字数：384 版次：01-01 页数：236

开本：16开装帧： I S B N ：9787121515743

换版：

纸质书定价：￥86.0

库存:有

分享到：

共有图书评论0条【查看评论摘要】

看了又看

{{data.bookName}}

￥{{data.price}}

内容简介

前言

上架建议

作者简介

编辑推荐

音视频专区

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

运动参数估计的过程。其结果直接影响各类武器系统的作战效能，也是指挥员做出正
确决策的重要依据。 
本书第 1 版自 2019 年 9 月出版以来，受到了广大读者和业内同仁的厚爱，在院校
教学中发挥了应有的作用，并于 2024 年获评海军优秀教材。这也促使我们思考如何对本
书进行合理的修订，以更好地适应相关专业人才的培养需求。 
与第 1 版相比，本书立足于教材定位，在修订时从以下三个方面进行改进。 
一是注重经典理论与研究前沿的联系。一方面，从满足教学需求的角度全面介绍定
位跟踪领域的经典理论和方法（如最小二乘估计、卡尔曼滤波等）；另一方面，补充吸收
了现有目标定位跟踪领域的最新成果（如无线传感器网络目标探测、基于卷积神经网络
的视觉目标跟踪等）。 
二是注重理论知识与实践运用的耦合。在夯实理论的基础上，通过进一步丰富思考
题和实际案例，帮助读者对知识由初步理解到掌握运用，既符合正常的学习认知规律，
又支撑了由低阶知识记忆向高阶能力培养的转变。 
三是注重内容深度与广度的平衡。一方面，本书在编写上站在指挥控制的高度讨论
目标定位跟踪问题，使读者在对定位跟踪的本质和作用建立宏观认识的基础上，全面系
统地掌握定位跟踪理论的体系，了解定位跟踪涉及的理论方法。另一方面，聚焦核心关
键问题进行深入阐述，删减了部分与主干内容关联度不高的部分（如基于纯方位的水下
目标被动定位跟踪问题），务求讲清、讲透目标定位跟踪的原理和使用方法，并引导读者
进一步思考和研究，实现学习由书内向书外的延伸。 
此外，本书更新了必要的参考文献，并对第 1 版中文字叙述不准确、不严谨、不统
一之处进行了修正。 
本书修订工作由石章松教授主持，刘志坤副教授进行统稿，吴中红副教授参与了编
写。许江湖、罗亚松副教授对本书的修订提出了许多有益的意见和建议，在此表示感谢。
特别感谢电子工业出版社张正梅编辑为本书再版所做的大量细致工作。 
我们恳请广大读者能够一如既往地关心本书，并提出宝贵的意见和建议。 
 
作 者 
2025 年 8 月

查看更多 > 图书评论

暂无评论

发表图书评论

评论标题：
评论内容：
验证码：: 看不清楚
点击刷新
: 您还没有登录，请登录后再评论。
点击“登录”

购买过本书的顾客还买过

{{data.bookName}}

￥{{data.price}}