基于成像声呐的水下多目标跟踪研究
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荆丹翔,韩军,徐志伟,陈鹰
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Underwater multi-target tracking using imaging sonar
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Dan-xiang JING,Jun HAN,Zhi-wei XU,Ying CHEN
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表 3 各目标在声呐图中的位置 |
Tab.3 All targets’ positions obtained from sonar image |
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坐标参数 | t0 | t1 | t2 | t3 | t4 | t5 | ρ1/m | 7.71 | 7.66 | 7.59 | 7.48 | 7.37 | 7.25 | θ1/rad | 1.49 | 1.53 | 1.57 | 1.61 | 1.66 | 1.70 | ρ2/m | 7.51 | 7.44 | 7.35 | 7.13 | 7.05 | 6.90 | θ2/rad | 1.51 | 1.57 | 1.59 | 1.61 | 1.64 | 1.66 | ρ3/m | 7.42 | 7.31 | 7.23 | 7.13 | 7.03 | 6.83 | θ3/rad | 1.46 | 1.49 | 1.53 | 1.57 | 1.60 | 1.64 | ρ4/m | 7.36 | 7.29 | 7.17 | 7.03 | 6.97 | 6.82 | θ4/rad | 1.45 | 1.47 | 1.51 | 1.56 | 1.59 | 1.63 | ρ5/m | 6.9 | 6.82 | 6.72 | 6.66 | 6.55 | 6.47 | θ5/rad | 1.48 | 1.54 | 1.57 | 1.62 | 1.69 | 1.71 | ρ6/m | 6.94 | 6.58 | 6.51 | 6.41 | 6.42 | 6.38 | θ6/rad | 1.44 | 1.49 | 1.52 | 1.57 | 1.64 | 1.72 | ρ7/m | 6.33 | 6.33 | 6.35 | 6.41 | 6.50 | 6.57 | θ7/rad | 1.45 | 1.49 | 1.53 | 1.56 | 1.59 | 1.62 | ρ8/m | 6.17 | 6.17 | 6.2 | 6.25 | 6.34 | 6.41 | θ8/rad | 1.44 | 1.49 | 1.51 | 1.55 | 1.58 | 1.60 | ρ9/m | 4.69 | 4.78 | 4.84 | 5.00 | 5.07 | 5.17 | θ9/rad | 1.52 | 1.54 | 1.57 | 1.60 | 1.62 | 1.63 | ρ10/m | 4.39 | 4.54 | 4.75 | − | − | − | θ10/rad | 1.50 | 1.52 | 1.60 | − | − | − | ρ11/m | 3.17 | 3.26 | 3.38 | 3.44 | 3.48 | 3.61 | θ11/rad | 1.49 | 1.51 | 1.56 | 1.63 | 1.66 | 1.67 |
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