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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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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

For the extended target, it can be modeled as an elliptical shape with the elliptical random hypersurface model (Random Hypersurface Model, RHM), but currently the multi-extended target based on the elliptical RHM cannot achieve track tracking

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

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0100] Please refer to figure 2 with image 3 , figure 2 It is a block flow diagram of an ellipse RHM-based tag particle multi-extended target tracking method provided by an embodiment of the present invention; image 3 It is a flow realization diagram of an ellipse RHM-based tag particle multi-extended target tracking method provided by an embodiment of the present invention. As shown in the figure, the ellipse RHM-based tag particle multi-extended target tracking method of this embodiment includes:

[0101] S1: At the initial moment, assign L to each target 0 label particles, sample the initial state of the target, and obtain the initial set of label particles;

[0102] Initialize the label particle set as:

[0103]

[0104]

[0105] in, Represents the state vector of the i-th particle at the initial moment, Indicates the weight of the i-th particle at the initial moment, Indicates the particle label of the i-th particle at the initial moment, Θ 0 Represe...

Embodiment 2

[0204] In this embodiment, the multi-extended target tracking effect of the ellipse RHM-based tag particle multi-extended target tracking method in Embodiment 1 is described in combination with MATLAB simulation experiments.

[0205] In the simulation experiment of this embodiment, the tracking target is a uniform linear motion target. The observation scene is a two-dimensional plane area with a size of [-600,600]×[-600,600](m 2 ), and add random noise in the observation area as a simulation of the real scene, and design multiple elliptical extended targets with different initial positions, sizes, and motion directions to move uniformly in a straight line in the observation area. The initial state, shape parameters and survival time of each extended target are shown in Table 1.

[0206] Table 1 The initial state, shape parameters and survival time of each extended target

[0207]

[0208] It can be seen from Table 1 that the extended target 1 starts to move from the initi...

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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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