通过假设观测模型中来源于虚警的量测在雷达波门内服从均匀分布,该虚警在波门内位置信息对应的PDF可表示为:
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p\left(\mathbf{w}_{k}^{q}\right)=\frac{1}{V}
p(wkq)=V1
上式中,
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V表示雷达波门面积。假设虚警的数量信息服从泊松分布,来源于虚警的量测数量为
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m的概率可以表示为:
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p_{\mathbf{fa}}\left(m\right)=\frac{\left(\lambda V\right)^{m}e^{-\lambda V}}{m!}.
pfa(m)=m!(λV)me−λV.
当雷达收到
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Mkq个量测时,量测的构成存在两种可能:
1 个真实量测与
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Mkq−1个虚警;或者
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Mkq个虚警。
因此,雷达 𝑘 时刻存在
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Mkq个量测的概率可表示为:
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p\left(M_k^q\right)=\underbrace{\left(1-p_d\right)p_{\mathbf{fa}}\left(M_k^q\right)}_{\left(M_k^q\right)\text{个虚警}} + \underbrace { p _ { \mathbf{d}}p_{\mathbf{fa}}\left(M_k^q-1\right)}_{1\text{个量测}+M_k^q\text{个虚警}} .
p(Mkq)=(Mkq)个虚警
(1−pd)pfa(Mkq)+1个量测+Mkq个虚警
pdpfa(Mkq−1).
在给定
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Mkq个量测前提下,存在1个真实量测的概率可表示为:
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\epsilon\left(M_k^q\right)=\frac{p_\mathbf{d}p_\mathbf{fa}\left(M_k^q-1\right)}{p\left(M_k^q\right)}
ϵ(Mkq)=p(Mkq)pdpfa(Mkq−1)
杂波情况下量测的似然函数可表示为:
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p\left(\mathbf{z}_{k}^{q}|\mathbf{x}_{k}^{q}\right)=\frac{1-\epsilon\left(M_{k}^{q}\right)}{V^{M_{k}^{q}}}+\frac{\epsilon\left(M_{k}^{q}\right)}{M_{k}^{q}V^{M_{k}^{q}-1}}\sum_{m=1}^{M_{k}^{q}}p_{1}\left(\mathbf{z}_{k}^{q}\left(m\right)|\mathbf{h}\left(\mathbf{x}_{k}\right)\right),
p(zkq∣xkq)=VMkq1−ϵ(Mkq)+MkqVMkq−1ϵ(Mkq)m=1∑Mkqp1(zkq(m)∣h(xk)),
Notion:
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1-\epsilon\left(M_{k}^{q}\right)=\left(1-p_d\right)
1−ϵ(Mkq)=(1−pd)
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p_{\mathbf{fa}}\left(M_k^q\right)=\frac{1}{{V^{M_{k}^{q}}}}
pfa(Mkq)=VMkq1
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p_{\mathbf{fa}}\left(M_k^q-1\right)=\frac{1}{M_{k}^{q}}\sum_{m=1}^{M_{k}^{q}}p_{1}\left(\mathbf{z}_{k}^{q}\left(m\right)|\mathbf{h}\left(\mathbf{x}_{k}\right)\right)
pfa(Mkq−1)=Mkq1∑m=1Mkqp1(zkq(m)∣h(xk)):第
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m个真实测量来自目标
上式中,
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p_{1}\left(\mathbf{z}_{k}^{q}\left(m\right)|\mathbf{h}\left(\mathbf{x}_{k}\right)\right)
p1(zkq(m)∣h(xk))表示量测来源于真实目标情况下,其对应的PDF可表示为如下高斯分布:
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p_{1}\left(\mathbf{z}_{k}^{q}\left(m\right)|\mathbf{h}\left(\mathbf{x}_{k}\right)\right)=\frac{1}{\sqrt{(2\pi)^{3}|\Gamma_{k}^{q}\left(P_{k}^{q}\right)|}}\exp\left(-\frac{\left(\widetilde{\mathbf{z}}_{k}^{q}\left(m\right)\right)^{\top}\left(\Gamma_{k}^{q}\left(P_{k}^{q}\right)\right)^{-1}\widetilde{\mathbf{z}}_{k}^{q}\left(m\right)}{2}\right)
p1(zkq(m)∣h(xk))=(2π)3∣Γkq(Pkq)∣1exp(−2(z
kq(m))⊤(Γkq(Pkq))−1z
kq(m))
其中,
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\tilde{\mathbf{z}}_{k}^{q}\left(m\right)=\mathbf{z}_{k}^{q}\left(m\right)-\mathbf{h}\left(\mathbf{x}_{k}\right)
z~kq(m)=zkq(m)−h(xk)
最后,量测部分相关的FIM可表示为:
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\begin{aligned} \mathbf{\tilde{J}}_{\mathsf{D},k}^{q}\left(P_{k}^{q}|\mathbf{x}_{k}^{q}\right)& =\mathrm{E}_{p(\mathbf{x}_{k}^{q})}\left\{\psi_{k}^{q}\left(p_{\mathbf{d}},\mathbf{\Gamma}_{k}^{q}(P_{k}^{q})\right)\nabla_{\mathbf{x}_{k}^{q}}\mathbf{h}\left(\mathbf{x}_{k}^{q}\right)\left(\mathbf{\Gamma}_{k}^{q}(P_{k}^{q})\right)^{-1}\nabla_{\mathbf{x}_{k}^{q}}^{\top}\mathbf{h}\left(\mathbf{x}_{k}^{q}\right)\right\} \\ &=\psi_{k}^{q}\left(p_{\mathsf{d}},\Gamma_{k}^{q}(P_{k}^{q})\right)\mathbf{J}_{\mathsf{D},k}^{q}\left(P_{k}^{q}|\mathbf{x}_{k}^{q}\right), \end{aligned}
J~D,kq(Pkq∣xkq)=Ep(xkq){ψkq(pd,Γkq(Pkq))∇xkqh(xkq)(Γkq(Pkq))−1∇xkq⊤h(xkq)}=ψkq(pd,Γkq(Pkq))JD,kq(Pkq∣xkq),
其中,
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\mathbf{J}_{\mathsf{D},k}^{q}\left(P_{k}^{q}|\mathbf{x}_{k}^{q}\right)
JD,kq(Pkq∣xkq)表示没有杂波情况下的量测部分FIM
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\mathbf{J}_{\mathbf{D},k}^q\left(P_k^q|\mathbf{x}_k^q\right)=\mathrm{E}\left\{\nabla_{\mathbf{x}_k^q}\mathbf{h}\left(\mathbf{x}_k^q\right)\left(\Gamma_k^q(P_k^q)\right)^{-1}\nabla_{\mathbf{x}_k^q}^{\top}\mathbf{h}\left(\mathbf{x}_k^q\right)\right\}.
JD,kq(Pkq∣xkq)=E{∇xkqh(xkq)(Γkq(Pkq))−1∇xkq⊤h(xkq)}.
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\psi_{k}^{q}\left(p_{\mathsf{d}},\Gamma_{k}^{q}(P_{k}^{q})\right)
ψkq(pd,Γkq(Pkq))为杂波带来的IRF,假设IRF与状态独立,IRF最终可简化为:
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\psi_{k}^{q}\left(p_{\mathbf{d}},\Gamma_{k}^{q}(P_{k}^{q})\right)=\sum_{M_{k}^{q}=1}^{\infty}p\left(M_{k}^{q}\right)t\left(M_{k}^{q}\right)
ψkq(pd,Γkq(Pkq))=Mkq=1∑∞p(Mkq)t(Mkq)
上式中,
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t\left(M_{k}^{q}\right)=\int_{k}\frac{\epsilon^{2}\left(M_{k}^{q}\right)\left|\Gamma_{k}^{q}(P_{k}^{q})\right|^{\frac{M_{k}^{q}-2}{2}}\left[\bar{\mathbf{z}}_{k}^{q}(1)\right]_{(1)}^{2}e^{-(\bar{\mathbf{z}}_{k}^{q}(1))^{\top}(\bar{\mathbf{z}}_{k}^{q}(1))}}{(2\pi)^{3}M_{k}^{q}V^{2(M_{k}^{q}-1)}\left(\frac{1-\epsilon(M_{k}^{q})}{V^{M_{k}^{q}}}+\frac{\epsilon(M_{k}^{q})\sum_{m=1}^{M_{k}^{q}}p_{1}(\mathbf{z}_{k}^{q}(m)|\mathbf{h}(\mathbf{x}_{k}^{q}))}{M_{k}^{q}V^{M_{k}^{2}-1}}\right)}d\mathbf{z}_{k}^{q}.
t(Mkq)=∫k(2π)3MkqV2(Mkq−1)(VMkq1−ϵ(Mkq)+MkqVMk2−1ϵ(Mkq)∑m=1Mkqp1(zkq(m)∣h(xkq)))ϵ2(Mkq)∣Γkq(Pkq)∣2Mkq−2[zˉkq(1)](1)2e−(zˉkq(1))⊤(zˉkq(1))dzkq.
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\Gamma_k^q\left(P_k^q\right)=\operatorname{diag}\left(\sigma_r^2\left(P_k^q\right),\sigma_\theta^2\left(P_k^q\right),\sigma_f^2\left(P_k^q\right)\right)
Γkq(Pkq)=diag(σr2(Pkq),σθ2(Pkq),σf2(Pkq))
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\bar{\mathbf{z}}_{k}^{q}\left(m\right)=\left(\Gamma_{k}^{q}\left(P_{k}^{q}\right)\right)^{-1}\tilde{\mathbf{z}}_{k}^{q}\left(m\right)
zˉkq(m)=(Γkq(Pkq))−1z~kq(m)
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[\mathbf{a}]_{(1)}
[a](1)表示向量
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\mathbf{a}
a中的第1个元素
积分表示以下关于所有量测的多重积分:
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\int_{\mathbb{A}}d\mathbf{z}_{k}^{q}\triangleq\int_{\mathbb{A}}\cdots\int_{\mathbb{A}}d\mathbf{z}_{k}^{q}(1)\cdots d\mathbf{z}_{k}^{q}(M_{k}^{q}),
∫Adzkq≜∫A⋯∫Adzkq(1)⋯dzkq(Mkq),