Multi-target tracking method based on measure-driven target birth intensity PHD (MDTBI-PHD)
A multi-target tracking and target strength technology, which is applied in the PHD multi-target tracking field based on measurement-driven new target strength estimation, can solve the problems such as the recursive formula form of new target strength is not given, so as to reduce the calculation complexity and ensure Effect of Tracking Accuracy
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[0024] According to the accompanying drawings, the technical solution of the present invention is described in detail.
[0025] In the present invention, the target state and target measurement information at time k are respectively expressed as a random state set X k with random measurement set Z k :
[0026] x k ={x k,1 , x k,2 ,...,x k,i ,...,x k,M(k)}=S k|k-1 (X k-1 )∪B k|k-1 (X k-1 )∪Γ k (1)
[0027] Z k = { z k , 1 , z k , 2 , ... , z k , j , ... , z k , N ( k ) ...
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