Fast tracking method of interactive multimodal generalized label dobernoulli based on interval measurement

Abstract

The invention discloses a fast tracking method of an interactive multi-mode generalized label Dobernoulli under interval measurement, Combining the interactive multi-modal method with the fast algorithm, Firstly, in the framework of generalized label Dobernoulli filter, For the target sampling particle prediction phase, combined with the interval measurement generalized likelihood function, the transfer prediction of all particles to different models is realized, and then the model interaction is carried out by calculating the model weight probability, and then the model interaction particlesare updated by GLMB filter update equation. On this basis, combined with the fast implementation method, the prediction and updating are combined, only one truncation process is needed for each iteration, which reduces the computational load of the algorithm, and ultimately solves the problem of maneuvering multi-target detection and tracking.

Description

technical field [0001] The invention relates to the technical field of target tracking, in particular to a multi-Bernoulli fast tracking method for interactive multi-mode generalized labels under interval measurement. Background technique [0002] The motion of a non-maneuvering target can be described by a fixed model, but to describe the motion of a maneuvering target, it may be necessary to combine motion models with different maneuvering characteristics. As the maneuvering target tracking technology has received more and more attention, the requirements for the maneuvering target tracking technology are also getting higher and higher. Multi-maneuvering target tracking has become an extremely difficult problem in the field of target tracking. [0003] In his paper "Target Tracking Algorithm of Box Particle Generalized Label Dobernoulli Filter" (Journal of Xi'an Jiaotong University, 2017, 51(10): 107-112.), Ji Hongbing proposed a box particle generalized label Dober Effo...

AI Technical Summary

Problems solved by technology

[0006] What the present invention aims to solve is the problem that the target loses tracking when the target has a large maneuver under the interval measurement in the existing multi-maneuvering target tracking method, and provides an interactive multi-mode generalized tag multi-Bernoulli fast tracking method under the interval measurement. Tracking method, which combines interactive multi-mode method and fast algorithm idea on the basis of generalized label multi-Bernoulli filtering, adopts sequential Monte Carlo (SMC) algorithm to realize precise tracking of maneuvering multi-targets

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