Radar target tracking method based on dynamic resampling particle filtering

A radar target tracking and particle filtering technology, applied in the field of target tracking, can solve problems such as overshooting

Inactive Publication Date: 2016-10-26
NORTHWESTERN POLYTECHNICAL UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

We need to introduce resampling in the filter loop, but the standard particle filter does this too much

Method used

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  • Radar target tracking method based on dynamic resampling particle filtering
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  • Radar target tracking method based on dynamic resampling particle filtering

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Embodiment Construction

[0038] Embodiments of the present invention are described in detail below, and the embodiments are exemplary and intended to explain the present invention, but should not be construed as limiting the present invention.

[0039] In the process of radar target tracking, the system equations and measurement equations describing the state must be established first. The state vector can be expressed as X=(x 1 ,x 2 ,...x n ) whose components represent the position coordinates of the tracked target, and the observation vector is Y=(y 1 ,y 2 ,...y n ) is the angle information measured by the radar, the state equation and the measurement equation are respectively

[0040] x k =f(x k-1 ,w k-1 )

[0041] Y k =h(x k ,υ k )

[0042] where w k-1 ~N(0,Q) process noise, υ k ~N(0,R) is the measurement noise, the mean value of the initial state value X 0 Represents the initial position coordinates of the tracked target, and the variance is P 0 . Y represents radar observations...

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Abstract

The invention provides a radar target tracking method based on dynamic resampling particle filtering. A dynamic resampling algorithm is adopted to dynamically determine the number of particles participating in resampling, thereby realizing effective compromise of particle degeneracy and particle impoverishment, and ensuring same distribution shown by particle sets before or after the resampling. The method is characterized in that, when resampling begins, normalized weight substitution calculation is carried out to obtain Neff(0) value; if the Neff(0) value is smaller than Nth, it is shown that particle degeneracy problem is serious, and resampling is needed; and only one particle is randomly selected for resampling each turn, and then, Neff(k) value of a current particle-weight matching set is calculated until meeting the condition that Neff(k) is equal to or larger than the Nth. In order to prevent the problem of huge computation amount due to weight update of all particles in the residual particle set after resampling of one particle in each turn, the invention adopts a dichotomy method to carry out resampling on km particles to realize quick dynamic resampling, thereby greatly improving algorithm efficiency.

Description

technical field [0001] The invention relates to the field of target tracking, in particular to a radar target tracking method based on dynamic resampling particle filter. Background technique [0002] Dynamic system state estimation (filtering) is used more and more frequently in target tracking, and particle filter algorithm is widely used in radar target tracking in clutter environment and target fast maneuvering environment. However, there are some defects in the radar target tracking technology using the standard particle filter technology. The important density function of the standard particle filter algorithm only considers the prior information of the system and discards the current measurement information. Although this selection method greatly simplifies the calculation, the sampling efficiency is not high, and sometimes the particles extracted from it may deviate from the true value of the state as a whole, and reliable estimation results cannot be obtained; at th...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/20
CPCG06T2207/10044
Inventor 左军毅颜斌华王宏伟仲于江
Owner NORTHWESTERN POLYTECHNICAL UNIV
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