Weak and small target joint detection and tracking system and method based on random finite set

Abstract

The invention provides a weak and small target joint detection and tracking system and method based on a random finite set, and the system comprises: an infrared image measurement module which is usedfor obtaining an infrared measurement image of a ground environment and a target, thereby obtaining a target measurement domain; the target prediction module that is used for calculating a target measurement domain to obtain a target prediction state and a target prediction track label, and performing Gaussian sampling; the target updating module that is used for calculating a likelihood function, and calculating to obtain an updating state of the target and a target updating track label according to the likelihood function; and a hypothesis cost function associated with the target and measurement is built, and a hypothesis corresponding to the maximum weight is selected according to the hypothesis weight to obtain a target state and a track estimation value at the current moment. According to the invention, on the basis of obtaining target infrared measurement in a complex environment, effective detection and tracking of an infrared weak and small target in a complex noise environment are realized through measurement difference, self-adaptive extraction of a new target and optimal track allocation.

Description

technical field [0001] The invention belongs to the technical field of target detection and tracking, in particular to a system and method for joint detection and tracking of small and weak targets based on random finite sets. Background technique [0002] In modern warfare, with the development of stealth technology and the increasingly complex battlefield environment, targets with low signal-to-noise ratio show weak target characteristics in sensor measurement. Effective correlation makes it difficult for traditional tracking methods to effectively detect and track targets. And most of the traditional tracking methods are based on the radar system, but because the radar system also radiates its own characteristics when detecting the target, it is easy for the radar measurement system to expose its position and suffer the attack of the enemy, and it is difficult to survive in the current war . Infrared imaging technology has the advantages of strong anti-jamming ability f...

AI Technical Summary

Problems solved by technology

At the same time, because the traditional tracking algorithms JPDAF and MHT need to divide the target through data association, it is easy to cause association errors in complex scenes and cause the tracking performance of JPDAF and MHT to decline. In order to deal with this problem, a random finite set (RFS) based Tracking technology, which can jointly detect and track multiple targets whose number of targets is unknown and time-varying without complex data association processing, which can effectively improve tracking accuracy

However, in the field of multi-weak and small target tracking in complex scenes, the research on combining infrared image measurement and RFS tracking technology is still in its infancy, and there are high computational complexity, high false alarm probability of target measurement in complex backgrounds, and tracking Problems such as low precision

Images