Research On Target Tracking And Risk Assessment Based On Multi-ship Radar Information

With the development of economy,the number of ships at sea is increasing year by year which causes waterways in the world crowed.Sharing radar information between ships in busy waters will improve the performance of target tracking and avoid collision between vessels to a great extent.Target tracking consists of track initiation,track keeping and track deletion.The course error and speed error of a tracked target in track initiation are large which lead to inaccurate prediction position of the target and low correlation rate between the predicted position and measured position of the target.This often brings in the tracking initiation failure.In this thesis,the track initiation algorithm based on the tracking information of other ships is studied.The new algorithm can improve the course,speed and position data accuracy of the target in the initial stage of tracking by taking advantage of the tracking information provided by other ships,which can further improve the correlation successful rate between the predicted position and the measured position of the target to establish a correct initiation track.Simulation results indicate that the proposed algorithm can greatly improve the performance of track initiation.In addition,in the course of track maintenance,the problem of losing a target caused by the fluctuation of the object,the maneuvering of the target or occlusion can also be handled with the help of the tracking information of other ships.In the judgment of danger and avoidance,this thesis proposes unified risk judgment and avoidance strategy based on multi-radar information fusion.Integration of multi-radar information can form comprehensive and complete information within a certain range.Each ship's radar navigation system calculate the risk relationships between targets as well as the dangerous relationships between the own ship and targets.When there are collision risks between ships,each ship may reach consensus with other ships to select the optimal avoidance plan considering the overall situation.Simulation results show that by using of the new algorithm the ship radar navigation system can give a effective scheme to avoid collision in the case of collision risks between multiple ships.Referring to the original single ship radar target simulation program,the thesis studies multi-ship radar data simulation method in VC++6.0 environment.Several radar data can be simulated through the program on one computer.It provides a simulation platform for the target tracking initiation algorithm and the multi-ship unified collision avoidance algorithm.