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Target multi-quadrant motion tracking method based on 3D-UKF

A 3D-UKF and motion tracking technology, applied in image data processing, instrumentation, computing, etc., can solve problems such as target tracking that cannot move in multiple quadrants, unscented Kalman filter failure, etc.

Pending Publication Date: 2021-04-02
HANGZHOU DIANZI UNIV
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Problems solved by technology

However, in practical applications, there is a problem that it is impossible to effectively track a multi-quadrant moving target. For example, if the sensor is at the origin of a two-dimensional plane, if the target moves from one quadrant to another, or even other The motion path passes near the sensor, which will cause the unscented Kalman filter to fail. Therefore, a multi-quadrant target tracking method based on 3D-UKF is proposed to achieve an effective and stable tracking effect.

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  • Target multi-quadrant motion tracking method based on 3D-UKF
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  • Target multi-quadrant motion tracking method based on 3D-UKF

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Embodiment Construction

[0020] The specific implementation manner of the present invention will be described in detail below in combination with the technical scheme and accompanying drawings.

[0021] The overall flowchart of the target multi-quadrant motion tracking method based on 3D-UKF, such as figure 1 shown.

[0022] Step (1), construct a single-sensor single-target tracking scene, initialize the motion model of the target, and set the relevant parameters of the target motion, including the process noise of the target motion and the measurement noise of the sensor, specifically:

[0023] A target moves at a uniform speed in three-dimensional space, and its state can be expressed as x(k)=[p x ,v x ,p y ,v y ,p z ,v z ] T ;

[0024] where p x ,p y ,p z are respectively the position of the target in the x direction, y direction and z direction, v x ,v y ,v z are the velocities of the target in the x-direction, y-direction and z-direction, respectively.

[0025] Set the process nois...

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Abstract

The invention discloses a target multi-quadrant motion tracking method based on 3D-UKF, and aims to solve the problem of single-target multi-quadrant motion, and provides a method for performing multi-quadrant tracking on a target by using an unscented Kalman filter in a three-dimensional space. The invention provides a set of complete processing method and process, and the method is small in calculation amount, wide in tracking range, good in tracking effect, easy for engineering realization, and can be widely applied to the field of single-target tracking.

Description

technical field [0001] The invention belongs to the field of single-sensor single-target tracking, and relates to a single-sensor single-target tracking method based on UKF filtering in three-dimensional space, which is used to solve the problem of single-target multi-quadrant movement, improve the tracking range of targets in the monitoring space, and achieve high Accurate and stable tracking effect. Background technique [0002] In 1960, Kalman proposed the Kalman filtering method for linear systems in "A New Approach to Linear Filtering and Prediction Problems". This method is widely used and powerful. It can use the estimated value of the previous moment and the observed value of the current moment to predict Update estimates of state variables, but it is not suitable for nonlinear problems. Later, based on the Kalman filter method, researchers successively studied a series of methods such as Extended Kalman Filter (EKF), Unscented Kalman Filter (UKF), and Particle Filt...

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Application Information

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IPC IPC(8): G06T7/20G06T7/277
CPCG06T7/20G06T7/277
Inventor 申屠晗林俊浩韩阔业郭云飞陈霄
Owner HANGZHOU DIANZI UNIV
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