First-order propagation multi-node distributed GM-PHD fusion method

A fusion method and decentralized technology, applied in the above fields, can solve the problems of increasing system instability, loss of battlefield perception ability of data link network, etc., and achieve the effect of clear configuration structure, wide application and strong robustness.

Pending Publication Date: 2021-05-04
HANGZHOU DIANZI UNIV
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Problems solved by technology

[0003] In the field of multi-sensor information fusion, the research on centralized and distributed fusion structures is very mature, and there are a large number of research results at home and abroad. The common point of the above two fusion structures is that they are all centered processing methods. The principle is: the fusion center designated by the command system is the only fusion processing unit in the data link

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  • First-order propagation multi-node distributed GM-PHD fusion method
  • First-order propagation multi-node distributed GM-PHD fusion method
  • First-order propagation multi-node distributed GM-PHD fusion method

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Embodiment Construction

[0016] The specific implementation manner of the present invention will be described in detail below in combination with the technical scheme and accompanying drawings.

[0017] Such as figure 1 As shown, a GM-PHD-based multi-sensor decentralized fusion method is as follows:

[0018] (1) Build a multi-sensor multi-target tracking scene, initialize the target motion model, set the relevant parameters of the target motion, including the process noise of the target motion and the measurement noise of the sensor; the measurement of the sensor comes from the target or from the noise Wave;

[0019] Build the motion model of the target: x k+1,i = f k,k+1 (x k,i )+w k,i

[0020] In the formula, k represents the discrete time variable, i represents the serial number of the target, i=1,2,...,N, x k,i Indicates the state variable of the i-th target at time k, w k,i Indicates that the mean is zero and the variance is Q k Gaussian white noise, mapping f k|k+1 State transition equ...

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Abstract

The invention discloses a first-order propagation multi-node distributed GM-PHD fusion method. The method is used for researching fusion logic under a distributed structure. On the basis of a GM-PHD (Gaussian Mixture Probability Hypothesis Density) estimator, under the condition that a sensor only communicates with an adjacent sensor for one time at each moment, a multi-sensor distributed fusion algorithm framework is provided, and a first-order propagation multi-node distributed GM-PHD fusion algorithm is realized. The method is clear in configuration structure and high in robustness, and can be widely applied to the field of multi-target tracking.

Description

technical field [0001] The invention relates to the field of multi-sensor fusion multi-target tracking based on multi-sensor limited coverage / limited links, and relates to a multi-sensor multi-target distributed fusion tracking method based on probability hypothesis density filtering, which is used to establish multi-sensor multi-target distributed tracking The method realizes the distributed fusion and tracking of multi-sensors to multi-targets, and alleviates the high redundancy problem of fusion information under the distributed structure. Background technique [0002] Multi-target tracking is to jointly estimate the number of unknown time-varying targets and the corresponding states of multiple targets through measurement joints. In multi-target tracking, there are unfavorable factors such as unknown number of targets, unknown detection probability, large measurement error, and even adversarial interference. Multi-target tracking has become a challenging problem. Most o...

Claims

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Application Information

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IPC IPC(8): G01S7/42
CPCG01S7/42
Inventor 申屠晗许剑波彭东亮郭云飞骆吉安
Owner HANGZHOU DIANZI UNIV
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