Izbor koordinatnih sistema za praćenje ciljeva u multisenzorskom okruženju / The choice of target tracking system in multiple sensor surrounding

• Main Author: Goran Dikić
• Format: Article
• Language: English
• Published: University of Defence in Belgrade 2003-05-01
• Series: Vojnotehnički Glasnik
• Subjects: automatsko upravljanje; praćenje ciljeva; senzori; automatic control; target tracking; sensors
• Online Access: http://scindeks-clanci.ceon.rs/data/pdf/0042-8469/2003/0042-84690303257D.pdf

Rad ukazuje na probleme koji se pojavljuju pri izboru koordinatnih sistema, u slučaju kada treba da se prati mnoštvo ciljeva uz korišćenje vise senzora. U savremenim sistemima za praćenje ciljeva ovaj proces je zasnovan na rezultatima dobijenim pomoću algoritama za procenu stanja cilja, koji sadrže jednačine kojima se opisuje kretanje cilja i proces merenja. Postojanje različitih koordinatnih sistema zahteva izvršenje odgovarajućih transformacija tokom procesa estimacije stanja. Kod nekih algoritama to smanjuje tačnost procene stanja. S obzirom na to da je potrebno obaviti vise izračunavanja, maze se pojaviti problem implementacije tih algoritama u realnom vremenu. Cilj ovog rada jeste da se istaknu relevantne činjenice koje moraju biti uzete u obzir tokom planiranja i razvoja sistema za praćenje vise ciljeva pomoću vise senzora. / This paper gives an overview of the issues in the choice of a coordinate system in the case when multiple target are tracked using multiple sensors. In modern target tracking systems, tracking is based on results obtained using some of the target state estimation algorithms. These algorithms involve equations describing the target movement and the measurement process. The existence of different coordinate systems requires appropriate transformations in the state estimation process. In some algorithms this decreases the state estimation accuracy. Since numerous calculations have to be done, a problem may occur in real-time implementation of these algorithms. The goal of this paper is to emphasize the relevant facts that must be taken into consideration during the planning and development of multiple targets multiple sensors tracking (MTSTT) systems.