Multi-sensor multi-target track association and fusion method based on OSPA(2) distance

Abstract

The invention discloses a multi-sensor multi-target track association and fusion method based on an OSPA(2) distance. Existing methods lack consideration of the characteristics of the whole flight path, resulting in reduced association performance between flight paths. The method comprises the following steps: firstly, establishing a system model to obtain an estimated track set; measuring the distance between the estimated track sets based on the OSPA(2) distance to obtain estimated track sets belonging to the same target; and finally, carrying out track fusion on the estimated track sets belonging to the same target by adopting a federated filter fusion method. According to the method, the estimated flight path set belonging to the same target can be accurately obtained, the RMSE position error of the obtained final flight path is lower than that of all single sensors, and higher precision can be obtained.

Description

technical field [0001] The invention belongs to the field of track association and fusion, and relates to an OSPA-based (2) (OSPA on OSPA, Optimal Sub-Pattern Assignment on Optimal Sub-Pattern Assignment) Distance to multi-sensor multi-target track association and fusion method. Background technique [0002] In reality, the situation that multiple sensors track multiple targets frequently occurs, which results in the track of one target usually having multiple tracks. At the same time, due to the existence of space alignment, time alignment, and different target observation accuracy, there are often multiple sets of tracks obtained from multiple sensors. In the face of the above situation, how to accurately obtain the estimated track set belonging to the same target among many estimated track sets has become an important content. Conventionally, track correlation is performed based on the geometric distance between tracks to determine which tracks belong to the same target...

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is exactly for the situation that a plurality of sensors track multi-target, the prior art only carries out the method of association according to the information of current track point, owing to lacking the consideration to the whole track feature, can cause the correlation between track performance degradation issues, providing an OSPA-based (2) A method of distance-to-multi-sensor multi-target track association and fusion

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