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Set potential probability hypothesis density filtering method assisted by group motion trend

A technology of probability hypothesis density and hypothesis density, applied in the field of target tracking, which can solve problems such as the inability to accurately grasp the motion of a single target and the large randomness of a single target.

Active Publication Date: 2019-10-15
NAT UNIV OF DEFENSE TECH
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Problems solved by technology

In traditional target tracking, the prediction of target motion is often based on a single target motion model, but the motion of a single target often has a large randomness, and the motion of a single target is often not accurately grasped.

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  • Set potential probability hypothesis density filtering method assisted by group motion trend
  • Set potential probability hypothesis density filtering method assisted by group motion trend
  • Set potential probability hypothesis density filtering method assisted by group motion trend

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Embodiment Construction

[0139] combine figure 1 , a kind of swarm movement tendency auxiliary aggregate potential probability hypothesis density filtering method of the present invention, comprises the following steps:

[0140] Step 1, use the measurement of each target position at time k to calculate the group state, and then use B-spline to perform trajectory fitting on the group state at time 1~k to obtain the group movement trajectory;

[0141] Step 2, calculate the group velocity through the B-spline fitting curve, and use the target position measurement and group velocity to form each target state, and obtain the potential distribution ρ at time k k (n) and probability hypothesis density D k (x), and set the single target motion model and the group motion model of each target to have the same proportion;

[0142] Step 3, let k=k+1, there is a probability hypothesis density D at the previous moment (k-1 moment) k-1 (x) and potential distribution ρ k-1 (n), predict the current moment (k momen...

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Abstract

The invention relates to the technical field of target tracking, in particular to a set potential probability hypothesis density filtering method assisted by a group motion trend, which is realized byusing a Gaussian mixture technology. According to the method, a group motion model is used for assisting tracking, different models are used for predicting the target state according to the proportions in the state transition process by calculating the proportions of different motion models, and more stable and accurate target state estimation and target number estimation are obtained compared with a traditional method that only a single-target motion model is used. And the method solves the problem of PHD allocation left by CPHD, and the tracking performance is significantly improved.

Description

technical field [0001] The present invention relates to the technical field of target tracking, in particular to a group motion assisted cardinalized probability hypothesis density (Group Motion Assisted Cardinalized Probability Hypothesis Density, GMA-CPHD) filtering method. Background technique [0002] As target tracking scenarios become more and more complex, the requirements for target tracking technology are also increasing. At present, sensors need to track more than just a single target or a small number of multiple targets. Tracking targets often appear in clusters, such as moving people in civilian scenes and traffic on the road; it is more common in military scenes, such as Tanks, armored vehicles, aircraft and other combat units and combat formations at all levels, cluster (multi-warhead) missiles, and the latest drone battle groups. In traditional target tracking, the prediction of target motion is often based on a single target motion model, but the motion of ...

Claims

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Application Information

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IPC IPC(8): G06F17/50G06F17/16
CPCG06F17/16G06F30/20
Inventor 卢哲俊田彪胡卫东刘永祥黎湘
Owner NAT UNIV OF DEFENSE TECH
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