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Extended target measurement set division and tracking method based on target prediction

A target prediction and extended target technology, which is applied in the field of target prediction-based extended target measurement set division and tracking, can solve the problems of complex operation and low division accuracy, and achieve the effect of improving tracking performance and improving division accuracy

Pending Publication Date: 2019-06-21
JIANGSU UNIV OF TECH
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Problems solved by technology

[0004] The purpose of the present invention is to provide a method for dividing and tracking an extended target measurement set based on target prediction, so as to solve the problems of complex operation and low division accuracy in the prior art

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  • Extended target measurement set division and tracking method based on target prediction
  • Extended target measurement set division and tracking method based on target prediction
  • Extended target measurement set division and tracking method based on target prediction

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Embodiment Construction

[0040] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative work all belong to the protection scope of the present invention.

[0041] see Figures 1 to 8 , the present invention provides a technical solution: a method for dividing and tracking an extended target measurement set based on target prediction, the steps of which are:

[0042] (1) Initialization parameters: initial target state x 0 ={m 0 ,P 0}, where m 0 is the state of motion, P 0 is the covariance matrix of the motion error, the state noise covariance is Q, and the initial weight of the target is w 0 ;

[004...

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Abstract

The invention relates to the technical field of information processing. The target prediction-based extended target measurement set division and tracking method comprises the following steps: (1) initializing parameters: an initial target state x0 is equal to {m0, P0}, m0 is a motion state, P0 is a covariance matrix of a motion error, a state noise covariance is Q, and an initial weight of a target is w0; (2) when k is greater than or equal to one frame, dividing the measurement set Zk; (3) according to the measurement information, using the ET-GM-PHD tracking algorithm framework to carry outmulti-hypothesis filtering on a target motion state by using; (4) deleting the low-weight target components, merging the similar target components, and performing state extraction on the high-weight target components; (5) if the next frame of observation information arrives, turning to the step (2) for iteration; otherwise, ending the tracking process. The method improves the division precision ofthe adjacent targets.

Description

technical field [0001] The invention relates to the technical field of information processing, and the specific field is a method for dividing and tracking extended target measurement sets based on target prediction. Background technique [0002] In the traditional radar system, a single target is regarded as a single point, but with the improvement of radar accuracy, in the measurement system of high-precision radar such as lidar, a single target may occupy multiple resolution units, resulting in a single target being represented by multiple points. The invention refers to such objects as extended objects. Different from the traditional single-point target, it is difficult to determine which points belong to the same target in the extended target, so it is necessary to divide the measurement set to realize the tracking of multiple targets. [0003] At present, the Extended Target Gaussian Mixture Probability Hypothesis Density (ET-GM-PHD) tracking algorithm is widely used ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S13/66G01S17/66G01S7/02G01S7/48
Inventor 李鹏王文慧邱俊达
Owner JIANGSU UNIV OF TECH
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