An Interactive Multi-Model Object Tracking Method with Optimal Motion Mode Switching Parameters
An interactive multi-model and motion mode technology, applied in the field of interactive multi-model target tracking, can solve problems such as difficulty in determining the duration of stay, non-unique switching parameters of maneuvering target motion modes, etc.
Active Publication Date: 2017-07-11
HARBIN ENG UNIV
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[0006] The purpose of the present invention is to overcome the defects of the existing methods, avoid the problem that the maneuvering target motion mode switching parameters are not unique and the staying time is difficult to determine, and make full use of the correlation information between multiple motion modes, and provide a method with Interactive Multi-model Object Tracking Method Based on Optimal Motion Mode Switching Parameters
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[0085] The present invention will be further described below in conjunction with the accompanying drawings.
[0086] An interactive multi-model target tracking method with optimal motion mode switching parameters, including the following steps:
[0087] Step 1: Calculate the optimal motion mode switching parameters by using the probability of each target motion mode and the target position and speed tracking error covariance information at the previous moment;
[0088] Step 2: Use the motion mode switching parameters in step 1 to calculate the optimal interaction probability of each motion mode; use the probability calculation to obtain the initialization information of the filter corresponding to each motion mode;
[0089] Step 3: Input the measurement information such as the speed and position of the maneuvering target obtained by radar and other sensors and the initialization information in step 2 into the filter for information processing, and obtain the target position, s...
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The invention belongs to the technical field of maneuvering target tracking, and particularly relates to an interactive multi-model target tracking method with optimal motion pattern switching parameters. The method includes the steps of calculating the optimal motion pattern switching parameters, calculating optimal interaction probability of each motion pattern by means of the motion pattern switching parameters, calculating to obtain initialized information of a filter corresponding to each motion pattern by means of the corresponding optimal interaction probability, inputting the speed and position measurement information of a maneuvering target and the initialized information obtained through a sensor into the filters, so that information processing is carried out, the target position and speed and a tracking error covariance of each motion pattern are obtained, and likelihood functions of the motion patterns are obtained; probability updating of the motion patterns is carried out; the final target position, the speed information and the tracking error covariance are obtained. The method avoids the problem that in a traditional interactive multi-model target tracking method, relevance information is missed.
Description
technical field [0001] The invention belongs to the technical field of maneuvering target tracking, and in particular relates to an interactive multi-model target tracking method with optimal movement mode switching parameters. Background technique [0002] Maneuvering target tracking has attracted the attention of experts and scholars for its wide application prospects in military and civilian fields. In recent decades, fruitful research results have been obtained. A major difficulty in maneuvering target tracking is that it is difficult to describe the entire process of target movement using a single, fixed motion pattern. For this reason, a multi-model switching method has appeared. The multi-model switching method is to map the possible motion modes of the target into a model function set. Different models in the set describe different motion modes of the target. Each model corresponds to a filter. For each motion Tracking parameters are estimated in the tracking mode. ...
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IPC IPC(8): G06F19/00
Inventor 周卫东蔡佳楠孙龙沈忱郑兰
Owner HARBIN ENG UNIV