本文選題：激光雷達(dá) + 捕獲概率　； 參考：《西安電子科技大學(xué)》2014年碩士論文

【摘要】：激光雷達(dá)是依據(jù)激光光束照射到目標(biāo)的散射信息來(lái)判斷目標(biāo)的位置、速度等參數(shù)的探測(cè)系統(tǒng)。激光雷達(dá)在對(duì)遠(yuǎn)距離的小目標(biāo)進(jìn)行探測(cè)時(shí),與微波雷達(dá)相比在距離分辨率、角分辨率、抗干擾能力等方面具有一定優(yōu)勢(shì)。在以探測(cè)目標(biāo)并對(duì)其跟蹤為主的激光雷達(dá)探測(cè)系統(tǒng)中,對(duì)目標(biāo)的捕獲以及跟蹤能力是衡量系統(tǒng)的重要指標(biāo)。考慮到目標(biāo)的運(yùn)動(dòng)軌跡不確定性,研究目標(biāo)在不同軌跡運(yùn)動(dòng)情況下系統(tǒng)捕獲目標(biāo)的概率具有一定理論意義和應(yīng)用意義。論文在介紹激光雷達(dá)的基本原理基礎(chǔ)上,詳細(xì)介紹激光雷達(dá)探測(cè)系統(tǒng)的組成、目標(biāo)運(yùn)動(dòng)模型的選取以及激光束掃描方式的設(shè)計(jì)。從空間非合作目標(biāo)勻速直線運(yùn)動(dòng)出發(fā),用勻速圓弧運(yùn)動(dòng)模型近似模擬目標(biāo)在曲線運(yùn)動(dòng)過(guò)程中的軌跡,開(kāi)展捕獲概率的研究。在矩形和矩形螺旋兩種掃描方式下,推導(dǎo)了激光探測(cè)系統(tǒng)的捕獲概率方程。在已有實(shí)驗(yàn)基礎(chǔ)上研究探測(cè)概率,綜合目標(biāo)捕獲概率與探測(cè)概率。系統(tǒng)分析了激光發(fā)散角、激光重頻和掃描范圍等參數(shù)下,系統(tǒng)捕獲目標(biāo)的概率。為探測(cè)系統(tǒng)各參數(shù)合理設(shè)計(jì)提供一定理論依據(jù)。開(kāi)展了運(yùn)動(dòng)目標(biāo)跟蹤研究。采用Kalman濾波算法對(duì)目標(biāo)在一定空域內(nèi)運(yùn)動(dòng)的軌跡進(jìn)行仿真和分析。結(jié)果表明,當(dāng)目標(biāo)運(yùn)動(dòng)模型和空域一定時(shí),該算法可以實(shí)現(xiàn)對(duì)目標(biāo)運(yùn)動(dòng)軌跡的估計(jì)、跟蹤。隨著濾波點(diǎn)數(shù)增加,估值后的目標(biāo)軌跡與理論目標(biāo)軌跡之間的誤差逐漸減小直至重合。從激光掃描形成的探測(cè)區(qū)域出發(fā),結(jié)合濾波誤差,驗(yàn)證在最大誤差情況下,該算法可以有效的對(duì)激光雷達(dá)伺服系統(tǒng)提供軌跡信息以控制掃描系統(tǒng)的轉(zhuǎn)動(dòng)。轉(zhuǎn)動(dòng)后系統(tǒng)掃描區(qū)域能覆蓋信號(hào),實(shí)現(xiàn)目標(biāo)及時(shí)跟蹤。最后,為進(jìn)一步測(cè)試系統(tǒng)在不同掃描方式下的目標(biāo)捕獲性能,設(shè)計(jì)并搭建了運(yùn)動(dòng)目標(biāo)模型和原理性實(shí)驗(yàn)系統(tǒng)。對(duì)勻速圓弧運(yùn)動(dòng)的目標(biāo)進(jìn)行捕獲實(shí)驗(yàn),就測(cè)量結(jié)果開(kāi)展了分析討論。
[Abstract]:Lidar is a detection system based on the scattering information of laser beam to the target to judge the position, velocity and other parameters of the target. Compared with microwave radar, lidar has some advantages in range resolution, angle resolution, anti-jamming ability and so on. In the lidar detection system, which mainly detects and tracks the target, the target capture and tracking ability is an important index to measure the system. Considering the uncertainty of target trajectory, it is of theoretical and practical significance to study the probability of target capture under different trajectory motion conditions. On the basis of introducing the basic principle of lidar, this paper introduces in detail the composition of laser radar detection system, the selection of target moving model and the design of laser beam scanning mode. Starting from the uniform linear motion of a non-cooperative space target, the uniform arc motion model is used to approximate simulate the trajectory of the target in the course of curve motion, and the acquisition probability is studied. In this paper, the acquisition probability equation of laser detection system is derived under rectangular and rectangular spiral scanning modes. Based on the existing experiments, the detection probability is studied, which combines the target capture probability with the detection probability. The probability of target acquisition is analyzed systematically under the parameters of laser divergence angle, laser repetition rate and scanning range. It provides a certain theoretical basis for the reasonable design of the parameters of the detection system. The research of moving target tracking is carried out. The Kalman filtering algorithm is used to simulate and analyze the trajectory of the target in a certain spatial domain. The results show that the algorithm can realize the estimation and tracking of the target trajectory when the target motion model and the spatial domain are fixed. As the number of filtering points increases, the error between the estimated target trajectory and the theoretical target trajectory decreases gradually until coincidence. Based on the detection region formed by laser scanning and the filtering error, it is verified that the algorithm can effectively provide trajectory information to the laser radar servo system and control the rotation of the scanning system under the condition of maximum error. After rotation, the scanning area can cover the signal and the target can be tracked in time. Finally, in order to further test the target capture performance of the system under different scanning modes, the moving target model and the principle experimental system are designed and built. The target of uniform arc motion is captured and the measurement results are analyzed and discussed.
【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】：2014
【分類(lèi)號(hào)】：TN958.98

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