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Low-computation complexity Bernoulli filter for single-object tracking

A computational complexity and filter technology, applied in the field of filters, can solve problems such as high computational complexity, and achieve the effect of low computational complexity and high tracking accuracy

Active Publication Date: 2017-04-05
LIAONING UNIVERSITY OF TECHNOLOGY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

Therefore, in a traditional Bernoulli filter, the function s k (x k ) has a high computational complexity

Method used

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  • Low-computation complexity Bernoulli filter for single-object tracking
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  • Low-computation complexity Bernoulli filter for single-object tracking

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Embodiment Construction

[0074] In order to make the objects and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the examples. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0075] The embodiment of the present invention provides a low computational complexity Bernoulli filter for single target tracking, which is characterized in that three random finite sets are used to represent the measurement equation at time k, that is, the quantity generated by the main target Measure T k (x k ), the measurement S generated by suspicious targets k (x k ) and state-independent clutter generation measurement C k ;

[0076] Z k =T k (x k )∪S k (x k )∪C k (1)

[0077] Among them, T k (x k ) term is defined as follows:

[0078]

[0079] It can be seen that from the state x k The main measurements generated The...

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Abstract

The present invention discloses a Low-computation complexity Bernoulli filter for single-object tracking. The whole Bayes derivation process is simplified, and the target state transfer function and a target measurement likelihood function are optimized. The target measurement and the state independent clutter statistics characteristics are analyzed to derive an improved sequential Monte Carlo realization process so as to effectively extract the real goal in the clutter environment. The filter can effectively track the maneuvering single goal in the clutter environment and has low computation complexity and high tracking precision.

Description

technical field [0001] The invention relates to a filter, in particular to a Bernoulli filter with low computational complexity for single target tracking. Background technique [0002] Single target tracking is a process of real-time estimation of the motion state of a moving target in a clutter environment. With the continuous development of stochastic finite set theory, single target tracking technology has effectively got rid of the shackles of complex data association operations, and is widely used in various monitoring fields such as civilian and military. [0003] In recent years, scholars at home and abroad have conducted in-depth research on single-target tracking technology and achieved a large number of excellent results. Many academic papers on target tracking based on stochastic finite set theory have been published in important international journals. The Bernoulli filter mainly assumes that the target motion state is a Bernoulli random finite set. In order t...

Claims

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Application Information

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IPC IPC(8): G01S7/00
CPCG01S7/00
Inventor 李波
Owner LIAONING UNIVERSITY OF TECHNOLOGY
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