Particle filter tracking-before-detection method based on weight fusion selection
A particle filter and front-tracking technology, which is applied to radio wave measurement systems, measurement devices, radio wave reflection/reradiation, etc., can solve the problems of particle swarm offset, large weight, and inability to accurately reflect different target positions
Active Publication Date: 2020-10-23
HANGZHOU DIANZI UNIV
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In addition, if the radar is far away from these targets, the particle weights calculated according to its radar measurements cannot accurately reflect the position of different targets.
If the weight fusion of multi-radar particles is performed simply by multiplying the weights of particles, it may cause the weight of particles located at the edge of the group and close to the adjacent target to be larger than the particles in the center of the group in a certain target tracking particle group. , the particle swarm shifts during resampling, causing the target track to gradually shift to the adjacent target track
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[0084] The present invention mainly adopts the method of computer simulation for verification, and all steps are verified correctly on matlab-2016a. The specific implementation steps are as follows:
[0085] (1) Initialize system parameters: radar scan period T=2, initialize particle number N=3000, target threshold Myu=0.7, particle distance target threshold Jyu=35, select particle number Xz=2, verify target Mk=50, Syu= 0.01.
[0086] (2) Obtain the k-th moment measurement of multiple radars Among them, R is the total number of sensors, m, n, p respectively represent the range unit, Doppler unit and azimuth unit, D r ,D d ,D b are range, Doppler, and azimuth space unit distances, respectively.
[0087] (3) Taxe={f for the tracking target set at time k-1 1,k-1 ,, f 2,k-1 … f Tm,k-1} target f in i,k-1 Tracking, each target has a tracking particle swarm P i,k-1 ={p 1,i,k-1 ,p 2,i,k-1 …p N,i,k-1}, for the target f i,k-1 The tracking process is as follows:
[0088] ...
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The invention discloses a particle filter tracking-before-detection method based on weight fusion selection. The particle filter tracking-before-detection method comprises the steps of: adding a powervalue to particle weights in a particle weight fusion part in a tracking link, calculating a distance between each radar position and a tracking particle swarm position mean value, ranking the distances from small to large, and adding different power values to radar particle weights according to the ranking; after radar particle weight fusion, screening a tracking particle swarm, ranking the tracking particle swarm from large to small according to particle weight values, selecting the first m particles after ranking, and calculating an average state of the first m particles; respectively calculating the distances between the m particles and the average positions of the m particles, and comparing the distances with a given threshold value Dis; and if the value is greater than Dis, enablingthe corresponding particle state to be equal to an average state of the first m particles after ranking and enabling the particle weights to be equal to an average value of the weights of the first mparticles. Therefore, the particle weight accuracy of the tracking particle swarm is improved and the tracking precision is improved.
Description
technical field [0001] The invention belongs to the technical field of radar tracking before detection, relates to the technical field of multi-radar multi-target particle filter tracking before detection, in particular to a particle filter tracking before detection method based on weight fusion selection. Background technique [0002] The multi-radar multi-target particle filter tracking before detection algorithm is a method of using multi-radar to detect and track multiple weak targets. It often adopts a two-layer particle filter structure, that is, the target tracking layer and the target detection layer. When the target tracking layer performs tracking filtering on the discovered target, if the target distance is relatively close, when the target tracking particle swarm is thrown, it may be thrown in the adjacent target area. In addition, if the radar is far away from these targets, the particle weights calculated according to the radar measurements cannot accurately re...
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IPC IPC(8): G01S13/72G06F17/15
CPCG01S13/726G06F17/15Y02A90/10
Inventor 石义芳潘凯陈霄
Owner HANGZHOU DIANZI UNIV