薄钧天 , 于洪波 , 张翔宇 , 等 . 基于峰值自寻的多目标检测前跟踪算法 [J/OL ] . 系统工程与电子技术 : 1 - 12 ( 2022-04-06 )[ 2022-04-27 ] . http://kns.cnki.net/kcms/detail/11.2422.TN.20220402.1644.020.html. http://kns.cnki.net/kcms/detail/11.2422.TN.20220402.1644.020.html http://kns.cnki.net/kcms/detail/11.2422.TN.20220402.1644.020.html

BO J T , YU H B , ZHANG X Y , et al . Multi-target track before detect algorithm based on peak self-seeking [J ] . Systems Engineering and Electronics : 1 - 12 ( 2022-04-06 )[ 2022-04-27 ] . http://kns.cnki.net/kcms/detail/11.2422.TN.20220402.1644.020.html. http://kns.cnki.net/kcms/detail/11.2422.TN.20220402.1644.020.html http://kns.cnki.net/kcms/detail/11.2422.TN.20220402.1644.020.html (in Chinese)

卢锦 , 王鑫 . 基于代价参考粒子滤波器组的检测前跟踪算法 [J ] . 电子与信息学报 , 2021 , 43 ( 10 ): 2815 - 2823 .

LU J , WANG X . Cost-reference particle filter bank based track-before-detecting algorithm [J ] . Journal of Electronics & Information Technology , 2021 , 43 ( 10 ): 2815 - 2823 . (in Chinese)

ZHANG D L , GAO L S , TENG T T , et al . Underwater moving target detection using track-before-detect method with low power and high refresh rate signal [J ] . Applied Acoustics , 2020 , 174 ( 4 ): 107750 . DOI: 10.1016/j.apacoust.2020.107750 http://doi.org/10.1016/j.apacoust.2020.107750 https://linkinghub.elsevier.com/retrieve/pii/S0003682X20308549 https://linkinghub.elsevier.com/retrieve/pii/S0003682X20308549

张奕群 , 尹立凡 , 王硕 , 等 . 一种改进的直方图概率多假设多目标跟踪方法 [J ] . 航空学报 , 2021 , 42 ( 11 ): 115 - 128 .

ZHANG Y Q , YIN L F , WANG S , et al . An improved histogram PMHT multi-target tracking method [J ] . Acta Aeronautica et Astronautica Sinica , 2021 , 42 ( 11 ): 115 - 128 . (in Chinese)

王宁 , 孟晋丽 , 刘国庆 , 等 . 机载雷达微弱目标帧间非相参积累与检测技术 [J ] . 信号处理 , 2021 , 37 ( 2 ): 248 - 257 .

WANG N , MENG J L , LIU G Q , et al . Airborne radar weak target interframe noncoherent integration and detection method [J ] . Journal of Signal Processing , 2021 , 37 ( 2 ): 248 - 257 . (in Chinese)

邵鹏飞 , 王蕾 , 王方勇 . 基于序贯蒙特卡洛与概率假设密度滤波的主动分布式声纳多目标跟踪 [J ] . 兵工学报 , 2020 , 41 ( 5 ): 941 - 949 . DOI: 10.3969/j.issn.1000-1093.2020.05.013 http://doi.org/10.3969/j.issn.1000-1093.2020.05.013 针对杂波数量多、目标数量和状态不确实性及观测不确实性等问题，提出了一种基于序贯蒙特卡洛与概率假设密度(SMC-PHD)滤波的分布式声纳多目标自动跟踪方法。通过随机有限集模型对多目标状态和观察进行表征，结合序贯蒙特卡洛方法中的重要性采样和重采样策略递归地实现多目标后验近似下概率假设密度的传递和滤波。利用分布式声纳观测模拟数据，对不同节点数目下基于SMC-PHD滤波的多目标跟踪进行了仿真实验。仿真实验结果表明：该方法适用于主动分布式声纳系统，能在多杂波环境下对数目未知且时变的多目标进行实时自动跟踪；在4个平台节点的主动分布式声纳系统中，实现了平均相对误差小于5%的水下多目标高精度跟踪，且目标数目估计值与真实值一致。

SHAO P F , WANG L , WANG F Y . Active distributed sonar multi-target tracking based on SMC-PHD filtering [J ] . Acta Armamentarii , 2020 , 41 ( 5 ): 941 - 949 . (in Chinese) DOI: 10.3969/j.issn.1000-1093.2020.05.013 http://doi.org/10.3969/j.issn.1000-1093.2020.05.013 An active distributed sonar multi-target automatic tracking method based on sequential Monte Carlo and probability hypothesis density (SMC-PHD) filtering is proposed to solve the problems of large number of clutter, targets uncertainty and observation uncertainty. In the proosed method, the random finite set (RFS) model is used to characterize the target state and observation, and the importance sampling and resampling strategy of sequential Monte Carlo (SMC) method is used to realize the transferring and filtering of probability hypothesis density of multi-target posterior. The multi-target tracking based on SMC-PHD filtering with different number of observation nodes is simulated. The results show that the proposed method can be used to effectively realize multi-target automatic tracking in real time in clutter environment with unknown and time-varying multi-targets. In active distributed sonar system with 4 nodes,the proposed method achieves the high-accuracy tracking with distance estimation relative error less than 0.05 and the completely accurate estimation of targets number. Key

张袁鹏 , 郑岱堃 , 李昕哲 , 等 . 基于隐马尔可夫模型的动态规划检测前跟踪算法 [J ] . 系统工程与电子技术 , 2019 , 41 ( 11 ): 2479 - 2487 . DOI: 10.3969/j.issn.1001-506X.2019.11.11 http://doi.org/10.3969/j.issn.1001-506X.2019.11.11 传统的动态规划检测前跟踪(dynamic programming track-before-detect, DP-TBD)算法能有效实现对匀速直线运动目标的检测跟踪,但其忽略了目标帧间状态转移概率,因此在对机动目标进行检测跟踪时容易受噪声干扰,产生错误的状态关联。对此提出了一种基于隐马尔可夫模型的DP-TBD算法。该算法利用隐马尔可夫模型对目标的运动过程建模,用一系列隐状态表示目标转弯速率并利用隐马尔可夫模型的隐状态估计理论实现对转弯速率的估计和预测,进而得到当前目标状态的预测值,根据此预测状态与下一时刻回波数据分辨单元间的距离来计算转移概率。然后将转移概率应用于DP-TBD算法的能量积累过程中以提高检测跟踪性能。仿真实验基于机动目标,给出了所提算法的检测跟踪性能,并与传统的DP-TBD算法、方向加权DP-TBD算法以及线性最小二乘DP-TBD算法进行了分析比较,验证了该算法的有效性。

ZHANG Y P , ZHENG D K , LI X Z , et al . Dynamic programming track-before-detect algorithm based on hidden Markov model [J ] . Systems Engineering and Electronics , 2019 , 41 ( 11 ): 2479 - 2487 . (in Chinese) DOI: 10.3969/j.issn.1001-506X.2019.11.11 http://doi.org/10.3969/j.issn.1001-506X.2019.11.11 The traditional dynamic programming track-before-detect(DP-TBD)algorithm can effectively detect and track targets of uniform linear motion. However, the ignorance of the target’s state transition probability among successive flames results in an incorrect state association and it is easy to be disturbed by the noise when detecting and tracking maneuvering targets. This paper proposes a DP-TBD algorithm based on the hidden Markov model (HMM). The algorithm uses the HMM to describe the motion of the target. A series of hidden states are used to represent the turning rate of the target, which are also estimated and predicted by the hidden state estimation theory of the HMM to the turning rate. The predicted value of the current target state will be obtained at the same time. According to the distance between the predicted state and the next echo data, we calculate the state transition probability. Then this probability is applied to the energy accumulation process of the DP-TBD algorithm to improve the detection and tracking performance. Based on the maneuvering target,the simulation gives the detection and tracking performance of the proposed algorithm, compares the proposed algorithm with the traditional DP-TBD algorithm, the direction-weighted DP-TBD algorithm and the linear least squares DP-TBD algorithm,and the effectiveness of the proposed algorithm is verified.<br><div> <br></div>

周天 , 张丽红 , 杜伟东 , 等 . 声纳图像多目标跟踪高斯滤波算法 [J ] . 哈尔滨工程大学学报 , 2020 , 41 ( 5 ): 691 - 697 .

ZHOU T , ZHANG L H , DU W D , et al . Improved GM-PHD filtering algorithm for multi-target tracking in sonar images [J ] . Journal of Harbin Engineering University , 2020 , 41 ( 5 ): 691 - 697 . (in Chinese)

ORLANDO D , EHLERS F , RICCI G . Track-before-detect algorithms for bistatic sonars [C ] // Proceedings of the 2010 2nd International Workshop on Cognitive Information Processing. Elba Island, Italy:IEEE , 2010 : 180 - 185 .

EHLERS F , ORLANDO D , RICCI G . Batch tracking algorithm for multi-static sonars [J ] . IET Radar Sonar Navig . 2012 , 6 : 746 - 752 . DOI: 10.1049/iet-rsn.2011.0266 http://doi.org/10.1049/iet-rsn.2011.0266 https://digital-library.theiet.org/content/journals/10.1049/iet-rsn.2011.0266 https://digital-library.theiet.org/content/journals/10.1049/iet-rsn.2011.0266

OKAMOTO A , SASANO M , KIM K , et al . Position error correction method using circle hough transform for AUV navigation [J ] . Transactions of Navigation , 2023 , 8 ( 1 ): 11 - 20 .

NORTHARDT T . A cramér-rao lower bound derivation for passive sonar track-before-detect algorithms [J ] . IEEE Transactions on Information Theory , 2020 , 66 ( 10 ): 6449 - 6457 . DOI: 10.1109/TIT.18 http://doi.org/10.1109/TIT.18 https://ieeexplore.ieee.org/xpl/RecentIssue.jsp?punumber=18 https://ieeexplore.ieee.org/xpl/RecentIssue.jsp?punumber=18

YAN B , ZHANG H , XU L P , et al . A novel 4D track-before-detect approach for weak targets detection in clutter regions [J ] . Remote Sensing , 2021 , 13 ( 23 ): 4942 . DOI: 10.3390/rs13234942 http://doi.org/10.3390/rs13234942 https://www.mdpi.com/2072-4292/13/23/4942 https://www.mdpi.com/2072-4292/13/23/4942 A 4D TBD approach is developed here for closely weak extended target tracking and overcoming heterogeneous clutter background and various clutter regions. The 4D measurements in this work are the points containing three positional information in spatial space and corresponding timestamp. The proposed method is mainly designed to address two issues. The first one is the dilemma between the weak target detection and difficult computation originating from the high dimensions of measurement. The second issue is the suppression of inhomogeneous background clutter and various clutter regions. The extension experiment using synthetic data showcases that no false alarm track would be built in the clutter regions, and the detection rate of close targets exceeds 94%. The experiments using real 3D radar also prove that the method works well in tracking closely maneuvering extended targets even if a clutter region exists.

NORTHARDT T , NARDONE S . Track-before-detect bearings-only localization performance in complex passive sonar scenarios: a case study [J ] . IEEE Journal of Oceanic Engineering: A Journal Devoted to the Application of Electrical and Electronics Engineering to the Oceanic Environment , 2018 , 2 ( 44 ): 482 - 491 .

胡健阳 , 段先华 , 马启星 . 基于粒子群优化粒子滤波的声纳目标检测前跟踪 [J ] . 船舶工程 , 2022 , 44 ( 1 ): 91 - 95 .

HU J Y , DUAN X H , MA Q X . Sonar target pre-detection tracking based on particle swarm optimization and particle filtering [J ] . Ship Engineering , 2022 , 44 ( 1 ): 91 - 95 . (in Chinese)

奚畅 , 蔡志明 , 袁骏 . 基于leg-by-leg机动的两级采样被动跟踪方法 [J ] . 电子与信息学报 , 2021 , 43 ( 10 ): 2805 - 2814 .

XI C , CAI Z M , YUAN J . Passive tracking method with two-hierarchy sampling based on leg-by-leg maneuver [J ] . Journal of Electronics & Information Technology , 2021 , 43 ( 10 ): 2805 - 2814 . (in Chinese)

刘文进 , 马启明 , 董义俊 . 基于改进动态规划的主动声纳序列图像检测方法 [J ] . 应用声学 , 2018 , 37 ( 4 ): 528 - 539 .

LIU W J , MA Q M , DONG Y J . An active sonar sequence image detection method based on improved dynamic programming [J ] . Journal of Applied Acoustics , 2018 , 37 ( 4 ): 528 - 539 . (in Chinese)

TESTOLIN A , DIAMANT R . Combining denoising autoencoders and dynamic programming for acoustic detection and tracking of underwater moving targets [J ] . Sensors , 2020 , 20 ( 2945 ): 1 - 16 . DOI: 10.3390/s20010001 http://doi.org/10.3390/s20010001 https://www.mdpi.com/1424-8220/20/1/1 https://www.mdpi.com/1424-8220/20/1/1 Industrial adoption of additive manufacturing (AM) processes demands improvement in the geometrical accuracy of manufactured parts. One key achievement would be to ensure that manufactured layer contours match the correspondent theoretical profiles, which would require integration of on-machine measurement devices capable of digitizing individual layers. Flatbed scanners should be considered as serious candidates, since they can achieve high scanning speeds at low prices. Nevertheless, image deformation phenomena reduce their suitability as two-dimensional verification devices. In this work, the possibilities of using flatbed scanners for AM contour verification are investigated. Image distortion errors are characterized and discussed and special attention is paid to the plication effect caused by contact imaging sensor (CIS) scanners. To compensate this phenomena, a new local distortion adjustment (LDA) method is proposed and its distortion correction capabilities are evaluated upon actual layer contours manufactured on a fused filament fabrication (FFF) machine. This proposed method is also compared to conventional global distortion adjustment (GDA). Results reveal quasi-systematic deformations of the images which could be minimized by means of distortion correction. Nevertheless, the irregular nature of such a distortion and the superposition of different errors penalize the use of GDA, to the point that it should not be used with CIS scanners. Conclusions indicate that LDA-based correction would enable the use of flatbed scanners in AM for on-machine verification tasks.

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MAO D Q , ZHANG Y C , ZHANG Y , et al . Target fast reconstruction of real aperture radar using data extrapolation-based parallel iterative adaptive approach [J ] . IEEE Journal of Selected Topics in Applied Earth Observations and Remote Sensing , 2021 , 14 : 2258 - 2269 . DOI: 10.1109/JSTARS.4609443 http://doi.org/10.1109/JSTARS.4609443 https://ieeexplore.ieee.org/xpl/RecentIssue.jsp?punumber=4609443 https://ieeexplore.ieee.org/xpl/RecentIssue.jsp?punumber=4609443

BRAGIN M A . Data Interpolation by near-optimal splines with free knots using linear programming [J ] . Mathematics , 2021 , 9 ( 1099 ): 1 - 12 . DOI: 10.3390/math9010001 http://doi.org/10.3390/math9010001 https://www.mdpi.com/2227-7390/9/1/1 https://www.mdpi.com/2227-7390/9/1/1 Using the wavelet transform defined in the infinite domain to process the signal defined in finite interval, the wavelet transform coefficients at the boundary are usually very large. It will bring severe boundary effect, which reduces the calculation accuracy. The construction of interval wavelet is the most common method to reduce the boundary effect. By studying the properties of Shannon-Cosine interpolation wavelet, an improved version of the wavelet function is proposed, and the corresponding interval interpolation wavelet based on Hermite interpolation extension and variational principle is designed, which possesses almost all of the excellent properties such as interpolation, smoothness, compact support and normalization. Then, the multi-scale interpolation operator is constructed, which can be applied to select the sparse feature points and reconstruct signal based on these sparse points adaptively. To validate the effectiveness of the proposed method, we compare the proposed method with Shannon-Cosine interpolation wavelet method, Akima method, Bezier method and cubic spline method by taking infinitesimal derivable function cos(x) and irregular piecewise function as an example. In the reconstruction of cos(x) and piecewise function, the proposed method reduces the boundary effect at the endpoints. When the interpolation points are the same, the maximum error, average absolute error, mean square error and running time are 1.20 × 10−4, 2.52 × 10−3, 2.76 × 10−5, 1.68 × 10−2 and 4.02 × 10−3, 4.94 × 10−4, 1.11 × 10−3, 9.27 × 10−3, respectively. The four indicators mentioned above are all lower than the other three methods. When reconstructing an infinitely derivable function, the curve reconstructed by our method is smoother, and it satisfies C2 and G2 continuity. Therefore, the proposed method can better realize the reconstruction of smooth curves, improve the reconstruction efficiency and provide new ideas to the curve reconstruction method.

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LI Y F , ZHANG X Y , WANG G H , et al . A novel HT-TBD detection approach for near-space target [C ] //Proceedings of the 2017 3rd IEEE International Conference on Computer and Communications. Chengdu , China : IEEE , 2017 .

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