Multi-target tracking evaluation method considering shape difference based on Fourier transform

Abstract

The invention relates to the technical field of multi-target tracking, and discloses a multi-target tracking evaluation method by considering shape difference based on Fourier transform, which is realized by the following steps: step 1, acquiring a real target state set and an estimated target state set in a multi-target tracking process; 2, constructing an FOSPA distance between a real target state set and an estimated target state set, wherein the FOSPA distance comprises a position error, a potential error and a shape error; 3, solving the FOSPA distance; and 4, performing performance evaluation of the tracking algorithm based on the solved FOSPA distance, and giving an evaluation conclusion. For an instance scene, by considering the evaluation requirement of a shape difference, the method provided by the invention can better meet the evaluation requirements, the obtained evaluation conclusion better conforms to intuitive understanding and is more reasonable, and particularly, whenthe FOSPA distance is calculated at each tracking moment, the algorithm performance evaluation in the whole tracking process can be realized, so that the method has better application value and popularization prospect.

Description

technical field [0001] The invention relates to the technical field of multi-target tracking, in particular to a multi-target tracking evaluation method considering shape differences based on Fourier transform. Background technique [0002] Multi-target tracking is one of the key functions of radar, electronic reconnaissance, air traffic control and other equipment / systems, and its tracking performance has a very important impact on the overall performance of the system. In recent years, the multi-target tracking algorithm based on random finite set (RFS) has become a research hotspot. This algorithm is different from the traditional multi-target tracking algorithm based on data association, and it is naturally impossible to use the traditional target tracking algorithm evaluation method when evaluating its performance. . Therefore, in order to effectively evaluate the RFS-based multi-target tracking algorithm, Schuhmacher et al. have given the definition of the optimal sub...

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Problems solved by technology

[0003] (1) Algorithms for some multi-target tracking scenarios, especially the tracking algorithms for group targets (a special form of multi-target activity, such as formation targets, cooperative combat targets, etc.) established by many scholars under the framework of RFS, multi-target The geometric shape between them is of great significance to the understanding of combat intent and threat estimation, but the above method does not include the measurement of the geometric shape difference, and cannot evaluate the estimation performance of the tracking algorithm for the shape, which is not conducive to researchers to choose a more suitable tracking algorithm;

[0004] (2) When comparing the performance of multiple tracking algorithms, if the target number estimation and target position estimation are equivalent, the OSPA distance values ​​in the above methods are very close, and the resolution is extremely poor, which is not conducive to researchers to obtain more effective tracking algorithms. The comparison result of

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