Box particle filtering based extension target CBMeMBer tracking method

A box particle filter and extended target technology, applied in the field of radar signal processing, can solve problems such as linear Gaussian constraints and complex calculations, and achieve the effect of improving the calculation speed

Active Publication Date: 2016-02-24
XIDIAN UNIV
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Problems solved by technology

[0005] The present invention aims at the shortcomings of linear Gaussian constraints and complex calculati

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  • Box particle filtering based extension target CBMeMBer tracking method
  • Box particle filtering based extension target CBMeMBer tracking method
  • Box particle filtering based extension target CBMeMBer tracking method

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Embodiment Construction

[0034]Attached below figure 1 The steps of the present invention are further described in detail.

[0035] (1) Target state initialization:

[0036] set the initial time n 0 Goal state matrix of extended goals Target state interval length R I , signal-to-noise matrix ν 0 , Measurement noise matrix w 0 , the survival probability r 0 and the probability distribution function p 0 ; The initial target number is 4 or 5 times the expected value of the real target number, when there is no prior knowledge of the target number and target state, let r 0 = 1 / 2,p 0 for a uniform distribution.

[0037] (2) Extended target measurement division:

[0038] (2a) The extended target produces multiple target measurements at one time, which can be simulated by generating multiple target measurements with point targets and adding different noise values, that is, the extended target state matrix is ​​obtained according to the following block matrix:

[0039]

[0040] in, is the targ...

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Abstract

The invention discloses a box particle filtering based extension target CBMeMBer tracking method, belongs to the field of radar signal processing, and mainly solves the problems of long time for realizing extension target CBMeMBer tracking and easiness for crossing of measurement and division in particle filtering. The method comprises the steps of extension target measurement and generation, extension target measurement and division, conversion of a target state into an interval form, box particle based CBMeMBer prediction, updating and target number estimation. According to a principle that measurements generated by the same target are closer, measurements with a Mahalanobis distance smaller than a distance threshold are included in the same division unit, so that extension target measurement and division are completed. Then, prediction and updating are performed with a box particle filtering based CBMeMBer method, so that tracking and state estimation of a target are completed. The method has the characteristics of good filtering performance and short calculation time, and can be used in the fields of radar signal processing and the like.

Description

technical field [0001] The invention belongs to the field of radar signal processing, in particular to multi-extended target tracking, that is, an extended target CBMeMBer tracking method based on box particle filtering. It can be used for high-resolution radar and sensor signal processing, etc., and can effectively improve the target tracking accuracy. Compared with the particle filter implementation method, the calculation time is shorter. Background technique [0002] In object tracking, an object is generally modeled as a moving point. This is reasonable when the target size is small and the target is far from the sensor. When the distance is relatively short, a high-resolution sensor may form multiple measurement data for a single target. At this point the target is modeled as an extended target consisting of a group of points. Extended goal tracking was first proposed by Drummond et al. in 1990. Koch modeled the extended target as an ellipse, and proposed an extend...

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Application Information

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IPC IPC(8): G06T7/20
CPCG06T2207/10016G06T2207/20076G06T2207/30232
Inventor 宋骊平李鹏涛姬红兵宋志龙刘宇航
Owner XIDIAN UNIV
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