【摘要】：由于激光相對(duì)于微波的特殊優(yōu)勢(shì),使得激光雷達(dá)在測(cè)距精度、測(cè)角精度、對(duì)抗和抗干擾方面具有特殊優(yōu)勢(shì)。激光掃描探測(cè)雷達(dá)主要功能涉及到既定空域掃描、運(yùn)動(dòng)目標(biāo)定位和跟蹤等,而目標(biāo)定位能力和跟蹤能力是激光雷達(dá)系統(tǒng)的核心功能指標(biāo)。對(duì)運(yùn)動(dòng)目標(biāo)的精確定位和有效跟蹤是激光雷達(dá)系統(tǒng)的重要研究?jī)?nèi)容。本論文首先概括介紹了激光雷達(dá)測(cè)向定位方法,同時(shí)也簡(jiǎn)要介紹了運(yùn)動(dòng)目標(biāo)跟蹤濾波的各種算法。針對(duì)運(yùn)動(dòng)目標(biāo)采用小角度高速掃描探測(cè)激光雷達(dá)系統(tǒng),設(shè)計(jì)了基于振鏡的激光雷達(dá)掃描定位系統(tǒng)。綜合探測(cè)系統(tǒng)結(jié)構(gòu)特點(diǎn),詳細(xì)分析了平臺(tái)級(jí)和系統(tǒng)級(jí)別的空間配準(zhǔn)方案,分別推導(dǎo)了平臺(tái)內(nèi)部和平臺(tái)間的空間坐標(biāo)轉(zhuǎn)換融合關(guān)系式。設(shè)計(jì)了基于振鏡的回波探測(cè)光學(xué)系統(tǒng)和直接回波探測(cè)光學(xué)系統(tǒng),確定了兩種探測(cè)系統(tǒng)的定位方式,概括介紹了各自系統(tǒng)的工作流程。詳細(xì)介紹了運(yùn)動(dòng)目標(biāo)的典型跟蹤濾波算法,對(duì)在指定空域高速運(yùn)動(dòng)的單模型運(yùn)動(dòng)目標(biāo)進(jìn)行了KF(卡爾曼濾波)算法的詳細(xì)推導(dǎo),并通過(guò)仿真分析噪聲及運(yùn)算次數(shù)對(duì)算法的影響,之后仿真分析了濾波算法所得軌跡與目標(biāo)量測(cè)軌跡的誤差。結(jié)果表明,針對(duì)既定的目標(biāo)運(yùn)動(dòng)模型和運(yùn)動(dòng)空域,KF算法可以有效實(shí)現(xiàn)對(duì)運(yùn)動(dòng)目標(biāo)的軌跡預(yù)判,基于運(yùn)動(dòng)目標(biāo)軌跡預(yù)判信息,跟蹤隨動(dòng)系統(tǒng)實(shí)現(xiàn)持續(xù)跟蹤。結(jié)合一定探測(cè)系統(tǒng)要求,給出了振鏡、隨動(dòng)云臺(tái)的設(shè)計(jì)依據(jù)及各自的詳細(xì)參數(shù),針對(duì)上述部件對(duì)目標(biāo)定位與跟蹤功能的實(shí)現(xiàn)情況進(jìn)行了簡(jiǎn)要介紹。介紹了激光發(fā)射掃描探測(cè)系統(tǒng)的實(shí)物構(gòu)成、控制軟件和運(yùn)動(dòng)目標(biāo)模擬器。最后對(duì)系統(tǒng)定位和跟蹤功能進(jìn)行了簡(jiǎn)要測(cè)試,測(cè)試了振鏡定位精度,并對(duì)隨動(dòng)云臺(tái)進(jìn)行了單步跟蹤實(shí)驗(yàn),并將結(jié)果進(jìn)行了分析。
[Abstract]:Because of the special advantage of laser compared with microwave, lidar has special advantages in ranging accuracy, angle measuring accuracy, countermeasure and anti-jamming. The main functions of laser scanning detection radar are related to the fixed spatial scanning, moving target location and tracking, and the target location ability and tracking ability are the core function indexes of the lidar system. Accurate location and effective tracking of moving targets are important research contents of lidar system. In this paper, the method of lidar direction-finding and the algorithms of moving target tracking and filtering are introduced. A scanning and locating system based on vibrating mirror is designed for moving target using small angle and high speed scanning and detecting lidar system. Based on the structural characteristics of the detection system, the spatial registration schemes at the platform level and the system level are analyzed in detail, and the fusion relations of the spatial coordinate transformation between the platform and the platform are derived respectively. The echo detection optical system and the direct echo detection optical system based on vibration mirror are designed. The positioning modes of the two detection systems are determined, and the work flow of each system is summarized. The typical tracking filtering algorithm of moving target is introduced in detail. The KF (Kalman filter) algorithm is derived for the single model moving target moving at specified high speed in airspace. The influence of noise and the number of operations on the algorithm is analyzed by simulation. Then, the error between the trajectory obtained by the filtering algorithm and the trajectory measured by the target is simulated and analyzed. The results show that the KF algorithm can effectively predict the trajectory of the moving target according to the target motion model and the motion airspace. Based on the trajectory prediction information of the moving target, the tracking and following system can realize the continuous tracking. According to the requirements of a certain detection system, the design basis and detailed parameters of the vibrating mirror and the following cloud head are given, and the realization of the target location and tracking function of the above parts is briefly introduced. The object structure, control software and motion target simulator of laser emission scanning detection system are introduced. Finally, the positioning and tracking functions of the system are briefly tested, the positioning accuracy of the vibrating mirror is tested, and the single-step tracking experiment of the following cloud head is carried out, and the results are analyzed.
【學(xué)位授予單位】：西安電子科技大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2016
【分類號(hào)】：TN958.98

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