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Multi-target tracking method for PHD smoother adaptive to target nascent strength

A technology of multi-target tracking and target new rate, applied in the field of radar signal processing, to improve the number and state estimation accuracy, reduce the number of estimated targets, and ensure the effect of multi-target tracking accuracy

Active Publication Date: 2015-12-23
XIDIAN UNIV
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Problems solved by technology

[0009] The present invention is for solving the problem of above-mentioned existing method, proposes a kind of multi-target tracking method of the PHD smoother of self-adaptive target new strength, namely the multi-target tracking method of λ-ATBI-PHD smoother

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Embodiment Construction

[0034] According to the accompanying drawings, the technical solution of the present invention is described in detail.

[0035] The measurements and state models used in the present invention are as follows:

[0036] PHD filtering regards all measurements and target states as two random finite sets, respectively

[0037] Z k ={z k,1 ,........,z k,m}∈F(Ζ)(1)

[0038] Ξ k = S k (X k-1 )∪Γ k (X k-1 )∈F(χ)(2)

[0039] where Z k is the measurement set at time k, Ξ k is the overall goal, Sk is the survival goal, Γk is the newborn goal, F(Z) is the random finite set of measurement, F(χ) is the random finite set of the target state, X k-1 is the target state at time k-1.

[0040] The measurements obtained by the sensor at each moment are from targets or clutter, and the measurement sources of all targets can be divided into newborn targets and surviving targets. The adaptive target new strength method is to divide the state space of the target into surviving targets and ...

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Abstract

The invention discloses a multi-target tracking method for a PHD smoother adaptive to the target nascent strength. According to the invention, the target confirmation hysteresis phenomenon of the PHD smoother adaptive to the target nascent strength at the target nascent time in the clutter environment is mainly solved. Meanwhile, the implementation form of the PHD smoother in the Linear gaussian condition is provided. Through the forward filtering process and the backward smoothing process, the number of targets and the states of the targets are accurately estimated. The influence of the target confirmation hysteresis phenomenon on the track formation at the target nascent time is relieved. The method comprises the steps of target nascent rate estimation, forward filtering and backward smoothing. That means, firstly, the nascent rate of targets at the moment k is estimated according to the mean value of the number of transcendental clutters. Secondly, the targets are predicted and updated to realize the forward filtering based on the measurement value at the moment k. Thirdly, the backward smoothing is conducted on the filtering result based on the time hysteresis L. Finally, a tracking result is outputted through the clipping, combining and state extracting process.

Description

technical field [0001] The invention belongs to the technical field of radar signal processing and relates to multi-target tracking. Specifically, it is a multi-target tracking method based on the probability hypothesis density smoother (λ-ATBI-PHDSmoother) of adaptive target new strength, which can be used in fire control, air traffic control and other detection systems in clutter environments. Background technique [0002] Regardless of modern defense detection or air traffic control ATC (AirTrafficControl) system, multi-target tracking MTT (MultipleTargetTracking) is one of the key technologies, and it has always been one of the most concerned directions. The tracking problem in a multi-target environment has the following difficulties: (1) There may be targets appearing, deriving and disappearing at every moment, so that the number of targets is in a process of constant change; (2) The measurement information is uncertain, If problems such as missed detection and false ...

Claims

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Application Information

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IPC IPC(8): G01S7/00
CPCG01S7/00
Inventor 宋骊平王宇飞姬红兵程慧
Owner XIDIAN UNIV
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