Automatic tracking and positioning algorithm for moving targets in complex environment

Rong Liu; Saini Jonathan Tishari

doi:10.3934/dcdss.2019086

Article Contents

2019, Volume 12, Issue 4&5: 1251-1264. Doi: 10.3934/dcdss.2019086 open access

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Automatic tracking and positioning algorithm for moving targets in complex environment

Rong Liu^1, , and
Saini Jonathan Tishari^2,

1.
Unmanned Aerial Vehicle Research Institute, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China
2.
Department of Mathematics UMBA, University of Mostaganem Algeria, Algeria

* Corresponding author: Rong Liu
* Corresponding author: Rong Liu

Received: May 31, 2017

Revised: October 31, 2017

Published: March 2019

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Abstract

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.

Keywords:

Mathematics Subject Classification: 51M35.

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Figure 1. Model of pin hole imaging

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

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Figure 3. MIMO radar model

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

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

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

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

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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

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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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