PHD filtering method for tracking non-rigid multiple extended targets

A multi-extended target and extended target technology, which is applied in the directions of measuring devices, instruments, surveying and mapping, and navigation, can solve the problem of poor tracking effect of non-rigid extended targets

Pending Publication Date: 2022-01-21
GUILIN UNIV OF ELECTRONIC TECH
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  • Claims
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Problems solved by technology

[0003] The purpose of the present invention is to provide a PHD filtering method for tracking non-rigid multi-extended targets, aiming to solve the poor tracking effect of non-rigid extended targets based on clutter and under the condition of missed detection in the prior art question

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  • PHD filtering method for tracking non-rigid multiple extended targets
  • PHD filtering method for tracking non-rigid multiple extended targets
  • PHD filtering method for tracking non-rigid multiple extended targets

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Embodiment Construction

[0031] Embodiments of the present invention are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals designate the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary and are intended to explain the present invention and should not be construed as limiting the present invention.

[0032] In the application of the present invention, there are the following terms: "GM" means Gaussian mixture form, "STGP" means space-time Gaussian model, "GP" means Gaussian model, "PHD" means probability hypothesis density filtering, "STGPRTSS" means smoothing algorithm.

[0033] see figure 1 , the present invention proposes a PHD filtering method for tracking non-rigid multi-spread targets, comprising the following steps:

[0034] S1: Initialize system parameters and receive measurement data in the scene;

[0035] S2: The ...

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Abstract

The invention discloses a PHD filtering method for tracking non-rigid multiple extended targets, which comprises the following steps of: firstly, modeling key points of target extension by using a space-time Gaussian process, and constructing states of the extended targets by using internal reference points of kinematics; employing a probability hypothesis density filter to propagate a first moment of the non-rigid multi-extension target random finite set; establishing a measurement tracking gate to select targets and corresponding measurement, then grouping the targets and the measurement to construct the suitable prediction likelihood of optimal division of the non-rigid multi-extension targets, and providing filter recursion and necessary approximation and hypothesis; and finally, converting the posterior density is converted into a Gaussian mixture form, so that the closed-form solution of the non-rigid target and the closed-form solution of the corresponding smoothing filter are obtained, and the number, the motion state and the shape of the non-rigid target can be accurately estimated in the presence of clutter, leak detection and noise.

Description

technical field [0001] The invention relates to the technical field of multi-target tracking, in particular to a PHD filtering method for tracking non-rigid multi-extended targets. Background technique [0002] In recent years, the multi-target tracking method based on the random finite set (RFS) framework has become a research hotspot. The RFS method introduces the set-valued target state and set-valued measurement model into the framework of Bayesian filtering to estimate clutter and correlation Expand the dynamics of the target state under certainty, but in practical applications, there are still many deficiencies, such as false measurements caused by clutter interference when tracking and monitoring multiple targets, and cannot be accurately estimated in the presence of missed detection and noise Number, motion and shape of non-rigid targets. Contents of the invention [0003] The purpose of the present invention is to provide a PHD filtering method for tracking non-r...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/00H03H21/00
CPCG01C21/005H03H21/0043
Inventor 吴孙勇周于松谢芸薛秋条孙希延蔡如华纪元法符强严素清邓洪高
Owner GUILIN UNIV OF ELECTRONIC TECH
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