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《跟踪雷达目标与多反射点》是Texas Instruments公司发布的一份技术文档，主要涉及的是针对具有多个反射点的雷达目标的跟踪算法。该文档历经多次修订，提供了算法的详细解释和配置参数的更新，适用于毫米波雷达系统。本文将深入探讨其中的关键知识点。 1. **追踪模块** (Tracking Module) 追踪模块是雷达系统的核心部分，其目的是对目标进行持续跟踪，以获取精确的位置、速度和加速度等信息。在多反射点的情况下，雷达需要处理由不同表面产生的多个回波信号，这增加了跟踪的复杂性。该模块可能包括数据融合、滤波算法（如EKF，扩展卡尔曼滤波）以及目标分类和确认策略。 2. **三维空间中的追踪运动模型** (Tracker Motion Model in 3D Space) 在三维空间中，目标的运动模型需考虑更多的自由度，包括X、Y、Z三个轴向的速度和加速度。EKF算法常用于这种情况下，它能够在线性化非线性模型的同时，保持对系统状态的估计。通过更新和预测步骤，EKF能够跟踪目标的动态变化，并校正由于测量噪声和环境干扰引起的误差。 3. **群体追踪** (Group Tracking) 雷达可能会同时探测到多个目标或一个目标的多个反射点。群体追踪算法旨在将这些点归类到单个目标或多个独立目标，以避免误报和漏报。这通常涉及到聚类算法和目标关联策略，例如门限检测、距离阈值和概率数据关联算法。 4. **高阶算法描述** (High Level Algorithm Description) 高级算法描述通常涵盖了从原始雷达数据到目标状态估计的整体流程，包括数据预处理（去除噪声和异常值）、测量匹配、滤波更新以及状态估计的计算。其中，可能涉及到特定的门限函数，如从固定体积到限幅增益的转变，以改善目标检测的性能。 5. **配置参数** (Configuration Parameters) 文档中提到的配置参数是调整追踪算法性能的关键。这些参数可能包括滤波器的初始化设置、门限值、目标分离距离、数据融合权重等。随着时间的推移，版本更新对这些参数进行了优化，以支持2D和3D追踪选项，同时增强了算法对环境变化的适应性。 6. **C代码实现细节** (C Code Implementation Details) 最新的版本中，文档添加了C代码实现的细节，这为开发者提供了实际操作的指南，帮助他们在硬件平台上部署和调试追踪算法。此外，还对配置参数的解释进行了扩展，使得理解算法的工作原理更加直观。 7. **反馈和改进** (Feedback and Improvements) 根据应用、系统和现场团队的反馈进行的修改表明，这份文档不仅关注理论，也重视实践应用中的问题解决。每次修订都反映了对算法性能的持续改进和对用户需求的响应。《跟踪雷达目标与多反射点》文档详尽介绍了毫米波雷达系统中针对复杂环境的跟踪算法，涵盖了从理论到实现的各个方面，为设计和优化雷达追踪系统提供了宝贵的参考资料。

Tracking Radar Targets with multiple reflection points – Rev 1.8

Tracking radar targets with multiple

reflection points

Rev 1.8

Texas Instruments, Incorporated

12500 TI Blvd

Dallas, TX 75074 USA

Tracking Radar Targets with multiple reflection points – Rev 1.8 

 
Table of Contents 
 Introduction and Scope ......................................................................................................................... 6 
1.  Tracking Module ........................................................................................................................... 6 
2.  Tracker Motion Model in 3D Space .............................................................................................. 7 
 Group Tracking .................................................................................................................................... 10 
1.  High Level Algorithm Description ............................................................................................... 10 
2.  Prediction Step ............................................................................................................................ 12 
3.  Association Step .......................................................................................................................... 12 
3.1.  Gating Function ................................................................................................................... 13 
3.2.  Scoring Function and Assignment ....................................................................................... 14 
4.  Allocation Step ............................................................................................................................ 15 
5.  Updating Step ............................................................................................................................. 15 
6.  Maintenance Step ....................................................................................................................... 16 
 Group Tracker Implementation Details .............................................................................................. 17 
1.  Sensor Mount Configuration Geometry ..................................................................................... 17 
2.  Group tracker (GTRACK) Library ................................................................................................. 19 
2.1.  Module and Unit sub-layers ................................................................................................ 19 
2.2.  Gtrack library API usage ...................................................................................................... 20 
3.  Point Cloud Tagging .................................................................................................................... 21 
4.  Tracker Initialization.................................................................................................................... 21 
4.1.  Initialization at tracker MODULE creation .......................................................................... 22 
4.2.  Initialization at tracker UNIT creation ................................................................................. 22 
4.3.  Initialization at track allocation ........................................................................................... 23 
5.  Track Prediction .......................................................................................................................... 24 
6.  Association .................................................................................................................................. 25 
6.1.  Gating steps ........................................................................................................................ 27 
6.2.  Scoring step ......................................................................................................................... 29 
6.3.  Assignment step .................................................................................................................. 30 
7.  Track Allocation ........................................................................................................................... 31 
7.1.  Building a candidate set ...................................................................................................... 32 
7.2.  Qualifying tests to form a track .......................................................................................... 32 

Tracking Radar Targets with multiple reflection points – Rev 1.8 

 
7.3.  Computation of range-dependent SNR threshold .............................................................. 33 
8.  Track Update ............................................................................................................................... 35 
8.1.  Tracker update flow diagram .............................................................................................. 36 
8.2.  Tracker Update when No dynamic points associated......................................................... 37 
8.3.  Tracker Update when dynamic points associated .............................................................. 39 
9.  Track Maintenance (State Machine) ........................................................................................... 42 
9.1.  State Transitions ................................................................................................................. 43 
10.  Presence .................................................................................................................................. 46 
11.  Track Report ............................................................................................................................ 46 
 Configuration Parameters ................................................................................................................... 48 
1.  Tracker Module Configuration .................................................................................................... 48 
1.1.  Max Acceleration Parameters ............................................................................................. 49 
2.  Advanced parameters ................................................................................................................. 50 
2.1.  Scenery Parameters ............................................................................................................ 50 
2.2.  Allocation Parameters ......................................................................................................... 51 
2.3.  State Transition Parameters ............................................................................................... 53 
2.4.  Gating Parameters .............................................................................................................. 53 
2.5.  Presence Detection Parameters ......................................................................................... 55 
 Tracker Memory Requirements and Benchmarks .............................................................................. 56 
1.  Memory ....................................................................................................................................... 56 
2.  Tracker Module Execution Time ................................................................................................. 56 
 Appendix ............................................................................................................................................. 57 
1.  Evaluating Partial Derivatives for 2D space tracking .................................................................. 57 
1.1.  Evaluating range partial derivatives .................................................................................... 57 
1.2.  Evaluating azimuth partial derivatives ................................................................................ 57 
1.1.  Evaluating doppler partial derivatives ................................................................................ 57 
2.  Evaluating Partial Derivatives for 3D space tracking .................................................................. 59 
2.1.  Evaluating range partial derivatives .................................................................................... 59 
2.2.  Evaluating azimuth partial derivatives ................................................................................ 59 
2.1.  Evaluating elevation partial derivatives .............................................................................. 60 
2.2.  Evaluating Doppler partial derivatives ................................................................................ 60 
3.  Tracking in 2D .............................................................................................................................. 62 