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Multiple object tracking method with PHD smoother with adaptive object nascent strength

A multi-target tracking and smoother technology, which is applied in the field of multi-target tracking and probability hypothesis density smoother, to achieve the effect of estimating the target state, ensuring the accuracy of multi-target tracking, and improving the number and state estimation accuracy

Active Publication Date: 2017-08-25
XIDIAN UNIV
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  • Claims
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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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  • Multiple object tracking method with PHD smoother with adaptive object nascent strength
  • Multiple object tracking method with PHD smoother with adaptive object nascent strength
  • Multiple object tracking method with PHD smoother with adaptive object nascent strength

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Embodiment Construction

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

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

[0036] PHD filtering treats all measurement and target states as two random finite sets, which are

[0037] Z k ={z k,1 ,........,z k,m}∈F(Z) (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 target, Sk is the survival target, Γk is the new target, F(Z) is the measurement random finite set, F(χ) is the random finite set of the target state, X k-1 is the target state at time k-1.

[0040] The measurement obtained by the sensor at each moment is from the target or clutter, and the measurement source of the whole target can be divided into the new target and the surviving target. The adaptive target new strength method divides the state space of the target into surviving targets and ne...

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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-PHD Smoother) of adaptive target rebirth intensity, which can be used in detection systems such as fire control and air traffic control in clutter environments. Background technique [0002] Multi-target tracking (MTT) is a key technology in modern defense detection and air traffic control (ATC) systems, and it has always been one of the most concerned directions. The tracking problem in a multi-target environment has the following difficulties: (1) At every moment, there may be the appearance, derivation and disappearance of targets, so that the number of targets is in a constantly changing process; (2) The measurement information is uncertain, If the problems such as missed detection and false alarm are not handled properly, the t...

Claims

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Application Information

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Patent Type & Authority Patents(China)
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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