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Multi-radar label multi-Bernoulli multi-target tracking method under low detection probability

A multi-target tracking and detection probability technology, applied in measurement devices, using re-radiation, radio wave measurement systems, etc., can solve the problem that multi-radar systems are difficult to stably track targets with low detection probability, avoid measurement division errors, improve Effects of tracking performance

Pending Publication Date: 2022-01-11
中国船舶集团有限公司第七二四研究所
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Problems solved by technology

[0005] The invention provides a multi-radar label multi-Bernoulli multi-target tracking method under low detection probability; it can solve the problem that multi-radar systems in the prior art are difficult to stably track low detection probability targets

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  • Multi-radar label multi-Bernoulli multi-target tracking method under low detection probability
  • Multi-radar label multi-Bernoulli multi-target tracking method under low detection probability
  • Multi-radar label multi-Bernoulli multi-target tracking method under low detection probability

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Embodiment Construction

[0016] Below, specific embodiments of the present invention will be described in detail in conjunction with the accompanying drawings, but they are not intended to limit the present invention.

[0017] The invention provides a multi-radar tag multi-Bernoulli multi-target tracking method under low detection probability. Each will be described in detail in the following examples.

[0018] Step S1: Initialize the target state: use the label multi-Bernoulli distribution to describe the multi-target state;

[0019] The multi-target state is represented by a random set of labels X, where X={x 1 ,...,x i ,...,x |X|}, x i =(m i , l i ) is the label single target state, Represents the motion state of the target, |X| represents the potential of the set;

[0020] According to the target's motion scene, set the state parameters of the target at the initial moment, including the number of targets, position speed, strength, existence probability and the variance of the target's mot...

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Abstract

The invention provides a multi-radar label multi-Bernoulli multi-target tracking method under a low detection probability. The method comprises the following steps: S1, describing a multi-target state by adopting label multi-Bernoulli distribution; S2, according to the label multi-Bernoulli posterior distribution of the multi-target state at a previous moment, acquiring label multi-Bernoulli distribution of multi-target state prediction; S3, carrying out measurement division by adopting a two-step greedy measurement division mechanism and according to label Bernoulli distribution of multi-target state prediction; S4, updating the label multi-Bernoulli density function of the multi-target state according to a measurement division result to obtain label multi-Bernoulli posterior distribution of the multi-target state at a current moment; and S5, trimming and combining all the label Bernoulli items representing the multi-target state, extracting the multi-target state according to label multi-Bernoulli posteriori distribution, and generating a target track. According to the invention, the problem that a multi-radar system is difficult to stably track a low-detection probability target is solved.

Description

technical field [0001] The invention relates to the field of multi-radar multi-target tracking. Background technique [0002] Multi-target tracking is to use the measurement data of sensors to estimate the state information of unknown targets. Traditional multi-target tracking is to associate measurements with targets, but with the increase of the number of targets, the problem of combination explosion will occur. Mahler introduced finite set statistics on the basis of multi-target tracking theory, proposed random finite set (RFS) theory, modeled multi-target state and measurement as RFS form, and effectively solved the problem based on multi-hypothesis tracking (MHT) and joint The Combinatorial Explosion Problem of Probabilistic Data Association (JPDA) in Multi-Target Tracking. Later Vo et al. introduced the concept of a finite set of labels. The multi-target filter based on random set of labels models the target state information as a finite set of labels and calculates...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S13/66
CPCG01S13/66
Inventor 张玉涛匡华星代贝宁孙进平
Owner 中国船舶集团有限公司第七二四研究所
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