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# Automatic tracking and positioning algorithm for moving targets in complex environment

• * Corresponding author: Rong Liu
• Nowadays, when moving targets are located in complex environment, the positioning algorithm takes longer time, and the result is not consistent with the actual positioning of the moving target, which has the problem of low positioning efficiency and inaccurate positioning results. In this paper, a moving target automatic tracking and positioning algorithm is proposed in the complex environment, which establishes the geodetic coordinate system and the space rectangular coordinate system, and completes the transformation between the geodetic coordinate system and the rectangular coordinate system, so as to improve the accuracy of the positioning result. The signal is rebuilt and the MIMO radar positioning model is used to complete the automatic tracking and positioning of the moving target in complex environment, to reduce the time consuming. The experimental results show that the proposed method can quickly and accurately track and locate the moving target in complex environment.

Mathematics Subject Classification: 51M35.

 Citation: • • Figure 1.  Model of pin hole imaging

Figure 2.  Diagram of corner system $\varphi, \omega$ and $\kappa$

Figure 4.  Comparison of the calculated position and the actual position of a ship

Figure 5.  Comparison of calculate longitude and actual longitude of ship

Figure 6.  Comparison of the calculated latitudes and the actual latitudes of the ship

Figure 7.  the time used for positioning by the three different methods

Table 1.  test data table of the target location algorithm

 Target Ship 1 Ship 2 Ship 3 Ship 4 Algorithm parameters $\Phi (^{\circ})$ 32 39 31 29 $\omega (^{\circ})$ -1 -1 -1 -1 $\kappa (^{\circ})$ 0.2 0.2 0.2 0.2 x(mm) 14 -16 -1 -23 y(mm) 9 2 -9 -7 f(mm) 148.51 155 148.51 133 X$_{C}$(m) -2734008.694 -2733672.0788 -2734008.694 -2733672.0788 Y$_{C}$(m) 5120687.4680 5121154.1044 5120687.4680 5121154.1044 Z$_{C}$(m) 2634082.8485 2633528.7010 2634082.8485 2633528.7010 Calculated coordinate 118$^{\circ}$05.872'E, 118$^{\circ}$05.572'E, 118$^{\circ}$05.883'E, 118$^{\circ}$05.586'E, 24$^{\circ}$33.109'N 24$^{\circ}$32.779'N 24$^{\circ}$33.112'N 24$^{\circ}$32.773'N Actual coordinate 118$^{\circ}$05.906'E, 118$^{\circ}$05.493'E, 118$^{\circ}$05.896'E, 118$^{\circ}$05.464'E, 24$^{\circ}$33.055'N 24$^{\circ}$32.700'N 24$^{\circ}$33.050'N 24$^{\circ}$32.655'N Error Longitude/' 0.034 0.079 0.013 0.122 Latitude/' 0.054 0.079 0.062 0.118

Table 2.  test data table of the target location algorithm

 Target Ship 5 Ship 6 Ship 7 Ship 8 Algorithm parameters $\Phi (^{\circ})$ 21 24 25 25 $\omega (^{\circ})$ $-$1 $-$1 $-$1 $-$1 $\kappa (^{\circ})$ 0.2 0.2 0.2 0.2 x(mm) $-$7 $-$9 $-$11 $-$2 y(mm) $-$12 $-$11 $-$5 $-$5 f(mm) 166 155 155 126.6 X$_{C}$(m) $-$2733672.0788 $-$2733672.0788 $-$2733672.0788 $-$2733672.0788 Y$_{C}$(m) 5121154.1044 5121154.1044 5121154.1044 5121154.1044 Z$_{C}$(m) 2633528.7010 2633528.7010 2633528.7010 2633528.7010 Calculated coordinate 118$^{\circ}$05.587'E, 118$^{\circ}$05.586'E, 118$^{\circ}$05.583'E, 118$^{\circ}$05.580'E, 24$^{\circ}$32.774'N 24$^{\circ}$32.775'N 24$^{\circ}$32.773'N 24$^{\circ}$32.776'N Actual coordinate 118$^{\circ}$05.594'E, 118$^{\circ}$05.480'E, 118$^{\circ}$05.427'E, 118$^{\circ}$05.459'E, 24$^{\circ}$32.798'N 24$^{\circ}$32.676'N 24$^{\circ}$32.669'N 24$^{\circ}$32.690'N Error Longitude/' 0.007 0.106 0.156 0.121 Latitude/' 0.024 0.099 0.104 0.086
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