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An asynchronous multi-sensor fusion multi-target tracking method based on phd filtering

A multi-sensor fusion and multi-target tracking technology, which is applied to instruments, radio wave measurement systems, etc., can solve problems such as asynchronous, sensor synchronization assumptions are difficult to be guaranteed, and achieve the effect of small calculation and clear configuration structure

Active Publication Date: 2021-01-12
HANGZHOU DIANZI UNIV
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AI Technical Summary

Problems solved by technology

However, in a dense clutter environment, there is no specific fusion algorithm that can solve the optimal effect of multi-sensor data fusion results. Therefore, a multi-sensor fusion multi-target tracking method in a dense clutter environment is proposed to achieve effective and High-precision tracking effect
[0004] Multi-sensor fusion is the synchronous measurement value of each sensor, but in the actual multi-sensor data fusion system, the synchronization assumption between sensors is difficult to be guaranteed, and the asynchronous situation is often encountered in practical applications

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  • An asynchronous multi-sensor fusion multi-target tracking method based on phd filtering
  • An asynchronous multi-sensor fusion multi-target tracking method based on phd filtering
  • An asynchronous multi-sensor fusion multi-target tracking method based on phd filtering

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Embodiment Construction

[0011] The specific implementation manner of the present invention will be described in detail below in combination with the technical scheme and accompanying drawings.

[0012] (1) Construct a multi-sensor multi-target tracking scene. The measurement of the sensor may come from the target or from the clutter. Build the motion model of the target, the measurement model of the sensor, the clutter model and the asynchronous sampling model, and initialize them .

[0013] Create a motion model for the target:

[0014] In the formula, k represents the discrete time variable, i (i=1,2,...,N) represents the serial number of the target, Indicates the state variable of the i-th target at time k, ω k Indicates that the mean is zero and the variance is Q k Gaussian white noise, mapping f k|k+1 State transition equation expressing the state transition of the i-th target from time k to time k+1. The state change of the i-th target at time k Among them, (x i,k ,y i,k ) is the po...

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Abstract

The invention discloses an asynchronous multi-sensor fused multi-target tracking method based on PHD filtering. The method includes the steps of establishing an asynchronous multi-sensor multi-targettracking scene, initiating a motion model of a target, and setting related parameters of target motions, wherein the related parameters include process noise of the target motions and measured noise of sensors; establishing an asynchronous multi-sensor multi-target data fusion structure. The method is clear in configuration structure and small in computation amount and can be widely applied in thefield of multi-target tracking.

Description

technical field [0001] The invention relates to the field of multi-sensor multi-target tracking under an asynchronous sampling system, and relates to an asynchronous multi-sensor fusion multi-target tracking method based on PHD filtering, which is used to solve multi-target tracking in a dense clutter environment and improve the detection of unknown targets in the monitoring space Excellent tracking quality, achieving high precision and stable tracking effect. Background technique [0002] Multi-sensor multi-target tracking is a kind of technically complex problem. The process of multi-sensor multi-target tracking mainly includes two aspects of target state estimation and data fusion. Traditional multi-target tracking methods mainly include track start and end, data association, tracking maintenance, etc. Among them, data association and tracking algorithm are the two most important issues, and representative algorithms such as Joint Probability Data Association Algorithm (J...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01S7/41
CPCG01S7/414
Inventor 申屠晗刘嵩
Owner HANGZHOU DIANZI UNIV
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