/ Lidar data fusion target tracking method based on multi-scale model of the Infrared

/ Lidar Infrared Data Fusion multiscale model based tracking method established multiscale model; target data collection, obtained from the measurement, and azimuth measurement value of the target pitch angle measurements; for infrared detection on the scale 1 the system uses the acquired angle information estimation unscented Kalman filter method; in 2 dimensions on the angle information and distance information estimation fusion; target state estimate of Kalman filter method on the scale 2; a fusion estimation information into 1 on the scale, the scale employed for filtering a Kalman filter estimation method, an accurate estimate of the filter; repeating the previous step, the target trajectory is obtained. The present invention will refer to multi-scale information fusion model, described more fully accurate target movement state of the target at different scales estimation filter, to improve the estimation accuracy of the target state, through the interaction between different-size information, increasing the target tracking accuracy.