RU2574075C1 - Method and system for identifying measurements in multiband radar station - Google Patents

Abstract

FIELD: radio engineering, communication.

SUBSTANCE: method comprises, in each j-th range for the obtained group of measurements for all tracked targets, generating a closing error which is the difference between results of the obtained measurements and results of predicting phase coordinates estimates of the tracked target; further, for all tracked trajectories, generating quality composite functions. The decision on the association of the obtained measurements with any of the tracked targets is made based on the minimum value of the composite functions determined during search thereof. A system for identifying measurements for a dual-band radar system is made in a certain manner.

EFFECT: faster operation and higher accuracy of identifying measurements from dual-band radar systems.

2 cl, 2 dwg

Description

The use of several radiation ranges in radar systems (radar) is one of the most effective methods for improving their tactical indicators. However, when processing signals in different ranges jointly, several problems arise, including when identifying radar measurements obtained in different ranges for belonging to one target, especially for multi-purpose tracking (MSC).

The identification (identification) of measurements, which is understood as the decision-making procedure on their belonging to a specific target, is a necessary stage of the radar operation with multi-purpose tracking. To date, the most common identification method is to identify measurements in spatial gates formed relative to the results of extrapolation of the measured coordinates to the next measure of the work [1].

вокруг точки с экстраполированными на каждом цикле обзора координатами. Пример пространственного строба ABCD для двухмерного пространства (m=2) показан на фиг. 1, где точки О_уо, О_цэ и О_ци соответствуют центру масс самолета-носителя РЛС, результатам экстраполяции и измерений положения цели соответственно; 2ΔD и 2Δφ_г - размеры строба по дальности и бортовому пеленгу в горизонтальной плоскости.An identification gate, also referred to as correlation, means a region of multidimensional space with dimensions ± Δx _i , $$\left(i=\overline{\mathrm{one,}m}\right)$$

around a point with coordinates extrapolated on each review cycle. An example of the spatial strobe ABCD for two-dimensional space (m = 2) is shown in FIG. 1, where the points О _уо , О _цэ and О _qi correspond to the center of mass of the radar carrier aircraft, the results of extrapolation and measurements of the target position, respectively; 2ΔD and 2Δφ _g are the dimensions of the gate in range and on-board bearing in the horizontal plane.

, где m - число измеряемых координат, поочередно сравниваются с аналогичными координатами x_эij $$\left(i=\overline{\mathrm{1,}m},j={\overline{\mathrm{1,}N}}_{ц}\right)$$

всех N_ц экстраполируемых траекторий с учетом допусков Δx_i. Если для всех координат j-й цели выполняется условие [2]The essence of the method of comparison in the identification gates in the simplest version is that all measurements z _i obtained from the same target $$\left(i=\overline{\mathrm{one,}m}\right)$$

, where m is the number of measured coordinates, are alternately compared with similar coordinates x _eij $$\left(i=\overline{\mathrm{one,}m},j={\overline{\mathrm{one,}N}}_c\right)$$

all N _c extrapolated trajectories taking into account the tolerances Δx _i . If for all coordinates of the j-th target the condition [2] is fulfilled

then this trajectory is considered to correspond to the accepted measurements.

A significant drawback of identifying measurement results in identification gates is its relatively low reliability when tracking maneuvering targets [3]. This is due to the need to use sufficiently large gates, since the identification process compares three random processes: measurements, extrapolation, and acceleration of maneuvers. In addition, comparison in the identification gates is possible only for a small number m of measured phase coordinates (m≤4) and in the course of it the internal deterministic relationships of the extrapolated phase coordinates and the history of their changes are not taken into account.

It should be noted that in radars that use IDC identification in identification gates, the resolving power for all coordinates is determined not by the parameters of the signals and antennas, but by the size of the gates. Since, when accompanied by intensively maneuvering targets, the sizes of the gates are selected sufficiently large, this determines the deterioration of resolution.

In addition, the fact of choosing a threshold criterion as a decisive rule is irrational for at least two reasons. One of them is due to the complexity of assigning the optimal gate size, which adapts to rapidly changing conditions for tracking maneuvering targets. The other is predetermined by the low probability of a correct decision being made near the borders of the gates, when even a small measurement error can change the decision about their correspondence to one or another trajectory to the opposite.

The disadvantages of strobe identification are especially pronounced in multi-band radars with serial emission of signals in different ranges, since gates of different sizes are used in different ranges.

Algorithms of the so-called strobeless identification [3], based on the formation of a decision rule for the minimum of one or another quadratic functional, are more perfect. This approach allows you to get a highly reliable solution, not taking into account the absolute value of the functional, but only determining its minimum value in the process of enumerating trajectories.

One of the most common is the procedure for identifying measurements with a minimum of functionality [3]

where q _i - weighting factors determined by the importance of the i-th coordinate. However, this functionality, used as a prototype, does not take into account the history of movement of the jth target, which is an important identification criterion, especially on intersecting tracks.

As applied to multi-band radars, this approach will further increase the reliability of identification precisely due to the consistent use of measurements in different ranges.

- число измеряемых координат. В общем случае измеряются дальность Д, скорость сближения V_сб и угловые координаты φ_г и φ_г в горизонтальной и вертикальной плоскостях.Below, in the application to the dual-band radar, a strobeless method for identifying measurements is proposed, provided that the probing signals in different bands that differ significantly in frequency are emitted with a period of 2T for each band and an interval T between them and in each band the signs of the band Q ₁ and Q are formed ₂ respectively for measurements of each range, where $$i=\overline{\mathrm{one,}m}$$

- the number of measured coordinates. In general, the measured distance D _sb closing velocity V and the angular coordinates, and φ _r φ _r in the horizontal and vertical planes.

In addition, it is believed that there are standard filters (for example, α, β - filter [4]) that form the estimates of all these coordinates, their first derivatives and the results of their extrapolation to the next measurement step.

The essence of the proposed method consists in the fact that discrepancies are formed in each j-th range for the obtained group of measurements for all tracking goals

Δz _{j, pi} (k) = Q _j [z _{j, i} (k) -x _{e, pi} (k)], j = 1,2,

- условный номер цели, N_ц - число отслеживаемых целей) на момент k, k=1,2,…, прихода измерений.Representing the difference between the results of measurements z _{j, i} and the prediction results x _{e, pi of the} estimated i-phase coordinates of the p-th target being tracked ( $$p={\overline{\mathrm{one,}N}}_c$$

- conditional number of the target, N _c - the number of tracked goals) at the time k, k = 1,2, ..., the arrival of measurements.

Further, for all the trajectories followed, quality functionals are formed

- оценка скорости изменения измерений i-й координаты для j-го диапазона по правилуwhere D _{j, i} are the variances of measurement errors of the i-th coordinate for the j-th range; $${\widehat{\dot{z}}}_{j,i}\left(k\right)$$

- assessment of the rate of change of measurements of the i-th coordinate for the j-th range according to the rule

- оценка скорости изменения i-й фазовой координаты на основе измерений диапазона с предыдущего такта. $${\widehat{\dot{x}}}_{pi}$$

- an estimate of the rate of change of the i-th phase coordinate based on the range measurements from the previous measure.

Thus, the advantage of the proposed method of identification is a significantly higher reliability of identification, which determines the possibility of identifying goals. The decision on whether the obtained measurements belong to one or another of the accompanied targets (with the number p *) is taken according to the minimum value (4), determined in the process of enumerating them:

, нормирующих квадрат невязки в функционалах качества в зависимости от точности измерителей. Предыстория движения учитывается вторым слагаемым функционала (4) за существенно меньшее время, в том числе и на близко расположенных и пересекающихся траекториях.The principal differences of the proposed method from the prototype are the consideration of differing accuracy indicators of the ranges used and the history of movement in the formation of quality functionals (4). Accounting for the different accuracy of the meters is achieved using weighting factors $$\frac{\mathrm{one}}{D_{j,i}}$$

, normalizing the squared discrepancies in the quality functional depending on the accuracy of the meters. The movement history is taken into account by the second term of functional (4) for a significantly shorter time, including on closely located and intersecting trajectories.

The structural diagram of a system that implements the proposed identification method is shown in FIG. 2.

The system is multi-channel, the number of channels is determined by the number N _{c of the} followed targets. Common to all channels is a dual-band, four-coordinate (m = 4) radar (block 1 DDRS), containing:

, с периодом 2T с признаком Q₁;block 2 and ₁ - meters range, closing speed and the angles in the horizontal and vertical planes of the first band forming respective measurement z _{1, i,} $$i=\overline{1.4}$$

, with a period of 2T with the sign of Q ₁ ;

, с периодом 2Т с признаком Q₂, но сдвинутые на интервал Т относительно измерений первого диапазона;block 3 And ₂ - similar meters of the second range, forming similar measurements z _{2, i} , $$i=\overline{1.4}$$

, with a period of 2T with the sign of Q ₂ , but shifted by the interval T relative to the measurements of the first range;

, следующих с интервалом Т;block 4 drugs - a logical adder, forming a common sequence of measurements z _{j, i} , j = 1,2, $$i=\overline{1.4}$$

following with an interval of T;

US unit 16 - a comparison device that searches for the target number p * corresponding to the minimum of all the functionalities I _p (4) and transfers control to the corresponding key 15-p *;

a set of blocks for the channel of each target p:

- вычитающее устройство, формирующее набор невязок Δz_j,pi, $$i=\overline{\mathrm{1,4}}$$

;block $$\text{5}-\text{p}{\text{WU}}_{\text{one}}^{\text{p}}$$

- a subtractive device forming a set of residuals Δz _{j, pi} , $$i=\overline{1.4}$$

;

- умножитель, формирующий квадрат невязки $$\Delta z_{j,pi}^2$$

;block $$\text{6}-\text{p}{\text{At}}_{\text{one}}^{\text{p}}$$

- multiplier forming the squared residual $$\Delta z_{j,\mathrm{<figure-callout\; id="2"\; label="p\; i"\; filenames="00000061.png"\; state="\{\{state\}\}">p\; </figure-callout>}i}^2$$

;

- устройство нормирования, формирующее сигнал $$\Delta z_{j,pi}^2/D_{j,i}$$

;block $$\text{7}-\text{p}{\text{UN}}_{\text{one}}^{\text{p}}$$

- signal conditioning device $$\Delta z_{j,\mathrm{<figure-callout\; id="2"\; label="p\; i"\; filenames="00000061.png"\; state="\{\{state\}\}">p\; </figure-callout>}i}^2/D_{j,i}$$

;

- сумматор, формирующий первое слагаемое функционала I_p: $${\displaystyle {\sum }_{i=1}^4\Delta z_{j,pi}^2/D_{j,i}}$$

для каждой сопровождаемой цели;block $$\text{8}-\text{p}{\text{FROM}}_{\text{one}}^{\text{p}}$$

- adder forming the first term of the functional I _p : $${\displaystyle {\sum }_{i=\mathrm{one}}^{\mathrm{four}}\Delta z_{j,\mathrm{<figure-callout\; id="2"\; label="p\; i"\; filenames="00000061.png"\; state="\{\{state\}\}">p\; </figure-callout>}i}^2/D_{j,i}}$$

for each target followed;

- фильтр, осуществляющий формирование оценок $${\widehat{x}}_{pi}\left(k\right)$$

и , $${\widehat{\dot{x}}}_{pi}\left(k\right)$$

выполняющий их экстраполяцию на следующий шаг;block $$\text{9}-\text{p}{\text{F}}_{\text{one}}^{\text{p}}$$

- filter for the formation of estimates $${\widehat{x}}_{pi}\left(k\right)$$

and $${\widehat{\dot{x}}}_{pi}\left(k\right)$$

performing their extrapolation to the next step;

- вычитающее устройство, формирующее разность $$\Delta {\widehat{\dot{x}}}_{j,pi}$$

оценки $${\widehat{\dot{z}}}_{j,i}\left(k\right)$$

скорости изменения измерений i-й координаты для j-го диапазона и оценки $${\widehat{\dot{x}}}_{pi}\left(k\right)$$

;block $$\text{10}-\text{p}{\text{WU}}_{\text{2}}^{\text{p}}$$

- subtractor forming a difference $$\Delta {\widehat{\dot{x}}}_{j,pi}$$

assessments $${\widehat{\dot{z}}}_{j,i}\left(k\right)$$

the rate of change of measurements of the i-th coordinate for the j-th range and estimates $${\widehat{\dot{x}}}_{pi}\left(k\right)$$

;

- умножитель, формирующий квадрат невязки $$\Delta {\widehat{\dot{x}}}_{pi}^2$$

;block $$\text{eleven}-\text{p}{\text{At}}_{\text{2}}^{\text{p}}$$

- multiplier forming the squared residual $$\Delta {\widehat{\dot{x}}}_{\mathrm{<figure-callout\; id="2"\; label="p\; i"\; filenames="00000061.png"\; state="\{\{state\}\}">p\; </figure-callout>}i}^2$$

;

- устройство нормирования, формирующее сигнал $$\frac{2T^2\Delta {\widehat{\dot{x}}}_{pi}^2}{D_{\mathrm{1,}i}^2+D_{\mathrm{2,}i}^2}$$

;block $$\text{12}-\text{p}{\text{N}}_{\text{2}}^{\text{p}}$$

- signal conditioning device $$\frac{2{\mathrm{<figure-callout\; id="2"\; label="T"\; filenames="00000061.png"\; state="\{\{state\}\}">T</figure-callout>}}^2\Delta {\widehat{\dot{x}}}_{pi}^2}{D_{\mathrm{one,}\mathrm{<figure-callout\; id="2"\; label="i"\; filenames="00000061.png"\; state="\{\{state\}\}">i</figure-callout>}}^2+D_{2i}^2}$$

;

- сумматор, формирующий второе слагаемое функционала I_p: $$2T^2{\displaystyle {\sum }_{i=1}^4\frac{\Delta {\widehat{\dot{x}}}_{pi}^2}{D_{\mathrm{1,}i}^2+D_{\mathrm{2,}i}^2}}$$

для каждой сопровождаемой цели;block $$\text{13}-\text{p}{\text{FROM}}_2^p$$

- adder forming the second term of the functional I _p : $$2{\mathrm{<figure-callout\; id="2"\; label="T"\; filenames="00000061.png"\; state="\{\{state\}\}">T</figure-callout>}}^2{\displaystyle {\sum }_{i=\mathrm{one}}^{\mathrm{four}}\frac{\Delta {\widehat{\dot{x}}}_{pi}^2}{D_{\mathrm{one,}\mathrm{<figure-callout\; id="2"\; label="i"\; filenames="00000061.png"\; state="\{\{state\}\}">i</figure-callout>}}^2+D_{2\mathrm{<figure-callout\; id="2"\; label="i"\; filenames="00000061.png"\; state="\{\{state\}\}">i</figure-callout>}}^2}}$$

for each target followed;

- сумматор, формирующий функционал I_p;block $$\text{fourteen}-\text{p}{\text{FROM}}_{\text{Σ}}^{\text{p}}$$

- adder forming the functional I _p ;

- ключ, замыкающий цепь подачи невязки Δz_j,pi в фильтр.block $$\text{fifteen}-\text{p}{\text{TO}}^{\text{R}}$$

- the key that closes the chain of the residual Δz _{j, pi} to the filter.

Moreover, the output [1] of block 2 is connected to the input <1> of block 4; the output [1] of block 3 is connected to the input <2> of block 4; the output [1] of block 4 is connected to the inputs <1> of the corresponding blocks 5-1, ..., 5-p, ..., 5-N _c and the inputs <2> of blocks 10-1, ..., 10-p, ..., 10- N _c ; output [1] of blocks 5-1, ..., 5-p, ..., 5-N _c . connected to the input <1> of blocks 6-1, ..., 6-p, ..., 6-N _c ; the output [2] of blocks 5-1, ..., 5-p, ..., 5-N _{c is} connected to the input <1> of blocks 15-1, ..., 15-p, ..., 15-N _c ; the output [1] of blocks 7-1, ..., 7-p, ..., 7-N _{c is} connected to the input <1> of blocks 8-1, ..., 8-p, ..., 8-N _c ; the output [1] of blocks 8-1, ..., 8-p, ..., 8-N _{c is} connected to the input <1> of blocks 14-1, ..., 14-p, ..., 14-N _c ; the output [1] of blocks 9-1, ..., 9-p, ..., 9-N _{c is} connected to the input <2> of blocks 5-1, ..., 5-p, ..., 5-N _c ; output [2] units 9-1, ..., 9-P, ..., 9 _n-N connected to the input <1> units 10-1, ..., 10-p, ..., 10-N _u; the output [1] of blocks 10-1, ..., 10-p, ..., 10-N _{c is} connected to the input <1> of blocks 11-1, ..., 11-p, ..., 11-N _c ; the output [1] of blocks 11-1, ..., 11-p, ..., 11-N _{c is} connected to the input <1> of blocks 12-1, ..., 12-p, ..., 12-N _c ; the output [1] of blocks 12-1, ..., 12-p, ..., 12-N _{c is} connected to the input <1> of blocks 13-1, ..., 13-p, ..., 13-N _c ; the output [1] of blocks 13-1, ..., 13-p, ..., 13-N _{c is} connected to the input <1> of blocks 14-1, ..., 14-p, ..., 14-N _c ; the output [1] of blocks 14-1, ..., 14-p, ..., 14-N _{c is} connected to the inputs <1>, ..., <p>, ..., <N _c > of block 16; the output [1] of blocks 15-1, ..., 15-p, ..., 15-N _{c is} connected to the input <1> of blocks 9-1, ..., 9-p, ..., 9-N _c ; the outputs [1], ..., [p], ..., [N _c ] of block 16 are connected to the input <1> of the corresponding blocks 15-1, ..., 15-p, ..., 15-N _c .

The functioning of the system in dynamics includes the following operations.

поступают на блоки 7-1,…,7-р,…,7-N_ц (устройства нормирования), которые усиливают (нормируют) их с весом 1/D_j,i). Отнормированные квадраты невязок $$\Delta z_{j,pi}^2/D_{j,i}$$

суммируются в блоках 8-1,…,8-р,…,8-N_ц, образуя первые слагаемые функционалов качества (4) I₁,…,I_p,…,I_Nц для всех сопровождаемых целей. Одновременно, полученные в блоках 9-1,…,9-р,…,9-N_ц фильтров значения оценок производных $${\widehat{\dot{x}}}_{pi}\left(k\right)$$

формируют в блоках 10-1,…,10-р,…,10-N_ц разности, которые после их умножения в блоках 11-1,…,11-p,…,11-N_ц, нормирования в блоках 12-1,…,12-р,…,12-N_ц и суммирования в блоках 13-1,…,13-p,…,13-N_ц образуют вторые слагаемые функционалов качества (4) I₁,…,I_p,…,I_Nц.Measurements of z _{1, i} and z _{2, i of} range, approach speed and angles in the horizontal and vertical planes from blocks 2 and 3 of the meters of the first and second ranges, respectively, with the corresponding features Q _j , as well as their increment from the previous measure [z _{j, i} (k) -z _{j, i} (k-2)] are transmitted with a period of 2T and a shift of T relative to each other in block 4 (logical adder). The generated common sequence z _{j, i of} measurements from the output of the logical adder arrives at intervals T to blocks 5-1, ..., 5-p, ..., 5-N _c (subtracting devices), and their increments to blocks 10-1, ... , 10-p, ..., 10-N _c . At the same time, the input of blocks 5-1, ..., 5-p, ..., 5-N _c from the output of the filters 9-1, ..., 9-p, ..., 9-N _c are transmitted the results of the forecast x _{e, pi} . As a result, at the output from blocks 5-1, ..., 5-p, ..., 5-N _c , residuals Δz _{j, pi} (k) are formed, which enter the input of blocks 6-1, ..., 6-p, ..., 6 -N _c , from the output of which the squared residuals $$\Delta z_{j,\mathrm{<figure-callout\; id="2"\; label="p\; i"\; filenames="00000061.png"\; state="\{\{state\}\}">p\; </figure-callout>}i}^2$$

arrive at blocks 7-1, ..., 7-p, ..., 7-N _c (standardization devices), which amplify (normalize) them with a weight of 1 / D _{j, i} ). Normalized residual squares $$\Delta z_{j,\mathrm{<figure-callout\; id="2"\; label="p\; i"\; filenames="00000061.png"\; state="\{\{state\}\}">p\; </figure-callout>}i}^2/D_{j,i}$$

summarized in blocks 8-1, ..., 8-p, ..., 8-N _c form a first terms of quality functionals (4) I _{1, ..., I p, ...,} I _Nts followed for all purposes. At the same time, the values of derivatives estimates obtained in blocks 9-1, ..., 9-p, ..., 9-N _c filters $${\widehat{\dot{x}}}_{pi}\left(k\right)$$

form differences in blocks 10-1, ..., 10-p, ..., 10-N _c , which, after their multiplication in blocks 11-1, ..., 11-p, ..., 11-N _c , normalization in blocks 12-1 , ..., 12-p, ..., 12-N _c and summation in blocks 13-1, ..., 13-p, ..., 13-N _c form the second terms of the quality functionals (4) I ₁ , ..., I _p , ... , I _Nts .

After summing the terms in blocks 14-1, ..., 14-p, ..., 14-N _c , the functionals I ₁ , ..., I _p , ..., I _{Nc are formed} , characterizing the degree of correspondence of the obtained measurements to a particular target.

и $${\widehat{\dot{x}}}_{p*i}\left(k\right)$$

и результаты прогноза x_э,p*i(k) и $${\dot{x}}_{э,p*i}(k)$$

.Formed functionals I _1, ..., I _p, ..., I _Nts enter the block 16 (comparator), where selected ones functional I _{p *,} with the smallest value (4), indicating the toiletries obtained measurement target p *. After that, from the output of block 16 corresponding to p *, a signal is transmitted to block 15-p *, which closes the residual supply circuit Δz _{j, p * i} to the filter of the corresponding channel in which estimates are formed $${\widehat{x}}_{p*i}\left(k\right)$$

and $${\widehat{\dot{x}}}_{p*i}\left(k\right)$$

and the forecast results x _{e, p * i} (k) and $${\dot{x}}_{\mathrm{uh},p*i}(k)$$

.

Literature

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2. Antipov V.N., Isaev S.A., Lavrov A.A., Merkulov V.I. Multifunctional fighter radar systems. - M .: Military Publishing, 1994.

3. Yarlykov M.S., Bogachev A.S., Merkulov V.I., Drogalin V.V. Radio-electronic systems for navigation, aiming and armament control of aircraft. T. 2. The use of aircraft electronic systems in solving combat and navigation tasks. / Ed. M.S. Yarlykova. - M.: Radio Engineering, 2012 .-- 256 p.

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Claims (2)

1. A method for identifying measurements for a dual-band radar system, in which discrepancies Δz _{j, pi} ix coordinates are formed for each tracking group for all tracking targets,

, m is the number of gauges) for the p-th trajectory and measurements at the time k, k = 1, 2, ..., arrival of measurements:

where Q _j is the sign of the arrival of measurements z _{j, i} (k) of the i-th coordinate from the j-th range, x _{e, pi} (k) is the forecast of the i-th coordinate for the p-th trajectory (

- conditional goal number, N _c - number of tracked targets), on the basis of which each tracking trajectory formed functional quality

where D _{j, i} are the variances of measurement errors of the i-th coordinate for the j-th range; T is the interval between the arrival of measurements; $${\widehat{\dot{x}}}_{pi}$$

- an estimate of the rate of change of the i-th phase coordinate based on the range measurements from the previous measure;

- estimates of the rate of change of measurements z _{j, i} i-th coordinates for the j-th range, calculated according to the rule

in this case, the decision on whether the obtained measurement belongs to one or another of the following goals is taken at the minimum value of the functionals I _p,

determined in the process of enumerating them:

2. Measurement identification system for a dual-band radar system, consisting of a dual-band four-coordinate radar (block 1); measuring instruments (block 2), forming the corresponding measurements z _{1, i of the} i-th coordinate, (

- range, approach speed and angles in horizontal and vertical planes) of the first range with a period of 2T and a sign of Q ₁ ; meters (block 3), forming similar measurements z _{2, i of the} second range with a period of 2T and a sign of Q ₂ shifted by the interval T relative to the measurements of the first range; logical adder (block 4), forming a common sequence of measurements z _{j, i} , j = 1,2, following with an interval of T; the comparator (block 16), performing the channel number search target p ^*, corresponding to the minimum of all generated at blocks 14-1, ..., 14-N functionals _p I _p, and passes control to a corresponding key 15 ^* p; for each channel of the target p: a subtractor (block 5-p) forming a set of residuals Δz _{j, pi} for all ix forecast coordinates x _{e, pi} (k) for the pth path and measured coordinates z _{j, i} for the jth range; the multiplier (block 6-p) forming the square of the residual

; standardization devices (block 7-r), forming a signal

; adder (block 8-p) forming the first term of the functional

for each target followed; a filter (block 9-r), generating estimates of all the i-th coordinates for the p-th trajectory and their forecast x _{e, pi} (k); subtracting device (block 10-p), forming the difference

assessments

the rate of change of measurements of the i-th coordinate for the j-th range and estimates

; a multiplier (block 11-p) forming a squared discrepancy

; standardization devices (block 12-p), forming a signal

; adder (block 13-p), forming the second term of the functional

for each target followed; an adder (block 14-p) forming the functional I _p ; a key (block 15-p) that closes the residual supply circuit Δz _{j, pi} to the filter; wherein the output [1] of block 2 is connected to the input <1> of block 4; the output [1] of block 3 is connected to the input <2> of block 4; the output [1] of block 4 is connected to the inputs <1> of the corresponding blocks 5-1, ..., 5-p, ..., 5-N _c and the inputs <2> of blocks 10-1, ..., 10-p, ..., 10- N _c ; the output [1] of blocks 5-1, ..., 5-p, ..., 5-N _{c is} connected to the input <1> of blocks 6-1, ..., 6-p, ..., 6-N _c ; the output [2] of blocks 5-1, ..., 5-p, ..., 5-N _{c is} connected to the input <1> of blocks 15-1, ..., 15-p, ..., 15-N _c ; the output [1] of blocks 7-1, ..., 7-p, ..., 7-N _{c is} connected to the input <1> of blocks 8-1, ..., 8-p, ..., 8-N _c ; output [1] units 8-1, ..., 8-p, ..., 8-N connected to the input _u <1> units 14-1, ..., 14-p, ..., 14-N _u; the output [1] of blocks 9-1, ..., 9-p, ..., 9-N _{c is} connected to the input <2> of blocks 5-1, ..., 5-p, ..., 5-N _c ; the output [2] of blocks 9-1, ..., 9-p, ..., 9-N _{c is} connected to the input <1> of blocks 10-1, ..., 10-p, ..., 10-N _c ; the output [1] of blocks 10-1, ..., 10-p, ..., 10-N _{c is} connected to the input <1> of blocks 11-1, ..., 11-p, ..., 11-N _c ; the output [1] of blocks 11-1, ..., 11-p, ..., 11-N _{c is} connected to the input <1> of blocks 12-1, ..., 12-p, ..., 12-N _c ; the output [1] of blocks 12-1, ..., 12-p, ..., 12-N _{c is} connected to the input <1> of blocks 13-1, ..., 13-p, ..., 13-N _c ; the output [1] of blocks 13-1, ..., 13-p, ..., 13-N _{c is} connected to the input <1> of blocks 14-1, ..., 14-p, ..., 14-N _c ; the output [1] of blocks 14-1, ..., 14-p, ..., 14-N _{c is} connected to the inputs <1>, ..., <p>, ..., <N _c > of block 16; the output [1] of blocks 15-1, ..., 15-p, ..., 15-N _{c is} connected to the input <1> of blocks 9-1, ..., 9-p, ..., 9-N _c ; the outputs [1], ..., [p], ..., [N _c ] of block 16 are connected to the input <1> of the corresponding blocks 15-1, ..., 15-p _, ..., 15-N _c .

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