Label particle multi-extension target tracking method based on ellipse RHM

A multi-expansion target and particle number technology, which is applied in the field of tag particle multi-expansion target tracking based on elliptical RHM, can solve problems such as inability to achieve track tracking, and achieve the effect of fast calculation speed and high tracking accuracy.

Active Publication Date: 2021-12-28
XIDIAN UNIV
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  • Abstract
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  • Claims
  • Application Information

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Problems solved by technology

For the extended target, it can be modeled as an elliptical shape with the elliptical random hypersurface model (Random H

Method used

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  • Label particle multi-extension target tracking method based on ellipse RHM
  • Label particle multi-extension target tracking method based on ellipse RHM
  • Label particle multi-extension target tracking method based on ellipse RHM

Examples

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Example Embodiment

[0099] Example one

[0100] Please refer to combined figure 2 and image 3 , figure 2 It is a block diagram of a process based on the label particle elliptical extension RHM multi target tracking method according to an embodiment of the present invention; image 3 Process is one kind of particles based on the label provided by the elliptical extension RHM multi target tracking method of the present invention is implemented. FIG. , Based on the tag elliptical particles of RHM Extensibility present embodiment shown in FIG target tracking method, comprising:

[0101] S1: In the initial time, the target allocation for each L 0 Particle labels, the initial state of the target sample, the label is initialized set of particles;

[0102] Initialization label particle set as follows:

[0103]

[0104]

[0105] in, I represents a state vector of the initial time of particles, I represents the weight of the particles of the initial time value, Tag indicates the i-th particle particle in...

Example Embodiment

[0203] Example 2

[0204] MATLAB simulation of the present embodiment in conjunction with the embodiments based on the tag RHM particles elliptical extension of a multi target tracking method for tracking multiple extended effect will be described.

[0205] Simulation in the present embodiment, the tracking target is the target of uniform linear motion. A two-dimensional planar area of ​​the observed scene, the size of [-600,600] × [-600,600] (m 2 ), And to increase the random noise in the observation area as to simulate the real scene, the initial design of the position, size, direction of movement of the plurality of different target extended oval uniform linear motion in the observation area. Each extended target in the initial state, and the survival time of the shape parameters as shown in Table 1.

[0206] Table 1 initial state of each of the extended object shape parameter and survival time

[0207]

[0208] As can be seen from Table 1, the time from an initial extended t...

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Abstract

The invention relates to a label particle multi-extension target tracking method based on an ellipse RHM, and the method comprises the steps: building an augmentation space, and initializing a label particle set; carrying out measurement division, supplementing new label particles according to a measurement division unit and the measurement in the measurement division unit, and combining the new label particles with a survival label particle set; predicting and updating the label particle set generated by merging according to a prediction equation and a likelihood equation; performing label processing on the updated label particle set to obtain multiple extended target number estimation, and associating multiple extended target state estimation with a track; and after the label particle subset after label processing is resampled, carrying out target mass center state extension and shape estimation at the next moment. The invention is high in operation speed and high in tracking precision, the mass center state and shape of the multiple extended targets can be accurately estimated, the target track can be obtained, and different targets can be distinguished.

Description

technical field [0001] The invention belongs to the technical field of information fusion, and in particular relates to an ellipse RHM-based tag particle multi-extended target tracking method. Background technique [0002] Target tracking is to process the target measurement information obtained by radar and other sensors through a series of filtering algorithms to calculate the current state of motion of the target, the number of targets and their extended shapes, etc. Target tracking is closely related to real life and is widely used in daily life. It has important application value in civilian and military fields and has made outstanding contributions. [0003] In the tracking process, if the perception unit of the sensor captures at most one measurement value of each target at each moment, abstracting the target into a point target, that is, point target tracking, is the basis for the development of target tracking. With the sharp increase in sensor resolution, when hig...

Claims

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Application Information

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IPC IPC(8): G06F30/25G01S5/02G01S5/12
CPCG06F30/25G01S5/0294G01S5/12
Inventor 宋骊平王菲菲柴嘉波何玉祺李秦雷邢天鹏刘浩楠陈壮壮
Owner XIDIAN UNIV
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