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Improved JPDA track association algorithm

A technology of track association and algorithm, applied in the field of JPDA algorithm

Pending Publication Date: 2019-07-19
AIR FORCE UNIV PLA
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to reduce the computational complexity of the Joint Probabilistic Data Association (JPDA) class algorithm, solve the problem of track merging that occurs when tracking nearby targets, and propose a JPDA algorithm based on the measurement adaptive elimination method

Method used

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  • Improved JPDA track association algorithm
  • Improved JPDA track association algorithm
  • Improved JPDA track association algorithm

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0058] In order to achieve the best results, this paper first analyzes the three parameters that affect the performance of the algorithm. Assuming that two targets that are close to each other are flying in parallel, the initial flight state is as follows:

[0059] Table 1 shows:

[0060] Table 1 Initial position and velocity

[0061]

[0062] Table 2 Correct interconnection probability and running time

[0063]

Embodiment 2

[0065] Cross-flying target, assuming that the initial state of two uniform-speed cross-flying targets is shown in Table 3:

[0066] Table 3 Initial position and velocity

[0067]

[0068]

[0069] The performance of the two algorithms decreases when tracking cross targets. However, the improved algorithm in this paper discards the measurement with a small interconnection probability and retains the measurement that satisfies the formula (10-12). In essence, it belongs to the normalization of the interconnection probability after eliminating unnecessary measurements, which will lead to The remaining part of the measurement plays a more important role in the final association result than before, which is especially obvious when the target is crossed; while the SJPDA algorithm only amplifies the probability of the highest interconnection probability, when the target is crossed When cross-moving, it is likely to cause error amplification, which will inevitably lead to a dec...

Embodiment 3

[0072] For long-distance accompanying flying targets, the following analyzes the cost-effectiveness of the three correlation algorithms for target tracking in general. The movement of the two targets is to do uniform motion first, then do circular motion for half a circle, and then continue to move at a constant speed. where the centripetal acceleration is a a =18m / s 2 , a b =16m / s 2 , the two targets take a relatively long distance for accompanying flight. Specific sports such as Figure 15 shown.

[0073] When tracking multiple targets that are far apart, the error generated largely depends on the selected dynamic model and filtering method, and the situation of wrong association will basically not happen. In this example, since all three are Kalman filter methods based on the same dynamic model, there is not much difference in tracking error. The efficiency and cost ratios of the three association methods are shown in Table 4.

[0074] Table 4 Correct interconnectio...

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Abstract

The invention relates to the computational complexity of a joint probability data association (JPDA) algorithm, and discloses a JPDA algorithm based on a measurement self-adaptive elimination method,which comprises the following steps: 1, calculating an interconnection probability by introducing an empirical JPDA method, and reducing the computational complexity of the algorithm; 2, performing threshold processing on the clustering probability matrix, and further optimizing algorithm complexity by reconstructing a confirmation matrix; and 3, adopting a self-adaptive elimination method to remove measurement which easily causes error correlation in the clustering probability matrix, so that the error of the JPDA algorithm when the JPDA algorithm is correlated with an adjacent target is reduced. The beneficial effects of the invention are as follows: the calculation complexity of the standard JPDA algorithm can be reduced by the improved algorithm; and compared with a standard JPDA algorithm, the correct interconnection probability can be increased by about 10% when a nearby target is tracked, so that track merging is avoided, and compared with a Scaled JPDA algorithm, the correctinterconnection probability is increased by about 10% when a cross target is tracked, so that the target is prevented from being mistakenly tracked.

Description

technical field [0001] The invention relates to the computational complexity of joint probabilistic data association (JPDA) algorithms, in particular to a JPDA algorithm based on a measurement self-adaptive elimination method. Background technique [0002] The JPDA algorithm is developed from PDA, it does not need any prior information about the target and clutter, and can obtain possible posterior information by using all effective echoes in the tracking gate. However, the amount of calculation is large, and it is easy to cause track merging when tracking an adjacent flying target, resulting in the loss of the target. One of the effective ways to reduce the amount of calculation is to improve the PDA algorithm to make it suitable for multi-target tracking; the second way is to simplify the JPDA algorithm to meet the real-time requirements. [0003] The general algorithm is to avoid the occurrence of track merging problem by introducing a new algorithm into the algorithm, w...

Claims

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Application Information

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IPC IPC(8): G06F17/18G06F17/16
CPCG06F17/18G06F17/16
Inventor 徐洋彭维仕伍友利方洋旺
Owner AIR FORCE UNIV PLA
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