Multi-target tracking method and system based on two-dimensional information

Abstract

The invention relates to the technical field of low-altitude target early warning and detection, and discloses a multi-target tracking method and system based on two-dimensional information, the method comprises a target interception process and a tracking process, the interception process comprises the following steps: after the system receives a two-dimensional target guide instruction, completing wave position arrangement corresponding to two-dimensional guide; controlling a radio frequency front end to complete beam emission according to beam position arrangement, acquiring and processing echo data by a digital signal processing module, performing trace point filtering and association, outputting target information and entering a tracking process if association succeeds, and otherwise, performing standby; the tracking process comprises the steps that a radar antenna transmits a group of detection wave beams to the newest target position every time, and the system operates subsequent signal processing and data processing processes after completing pulse accumulation to obtain an updated target position until a target is lost or an external state switching command is received. According to the method, multiple targets in a specific airspace range can be intercepted and tracked under the condition that only azimuth and distance two-dimensional guide information exists, and the robustness of a tracking radar system is improved.

Description

Technical Field

[0001] The present invention relates to the field of radar signal processing technology, in particular to low-altitude target search technology of airborne phased array radar, and more specifically to a multi-target tracking method and system based on two-dimensional information. Background Art

[0002] Phased array radar has become an important development direction of modern radar technology with its flexible beam pointing, dwell time, controllable spatial power and flexible allocation of radar resources. Search and tracking is a typical working mode of phased array radar. Traditional tracking radar adopts phased array system, which can track the designated target in a specific airspace, form a continuous and stable target track, and measure the target's distance, azimuth, pitch, speed and other parameters.

[0003] In addition to tracking specific targets based on three-dimensional information of azimuth, pitch, and distance, the tracking radar system also needs to be able to track multiple targets within a specific airspace with only two-dimensional guidance information of azimuth and distance. Summary of the invention

[0004] In order to solve the problems and shortcomings existing in the above-mentioned prior art, the present invention specifically proposes a multi-target tracking method and system based on two-dimensional information. The present invention can effectively track multiple targets within a specific airspace when only azimuth and distance information is available, and can maintain the ability to track targets when information is incomplete, thereby improving the robustness of the tracking radar system.

[0005] In order to achieve the above-mentioned object of the invention, the technical solution of the present invention is as follows: On one hand, the present invention proposes a multi-target tracking method based on two-dimensional information, the method comprising a target capture process and a target tracking process; wherein, Target acquisition process: After receiving the two-dimensional target guidance command, the phased array radar system completes the wave position arrangement corresponding to the two-dimensional guidance, controls the RF front end to complete beam transmission according to the wave position arrangement, and the digital signal processing module completes echo data acquisition, signal processing and data processing. Each wave position completes point trace detection, and after obtaining all the wave point point trace data, point trace filtering and association are performed. If the association is successful, the target information is output and the tracking process is entered. Otherwise, it will stand by and wait for the next two-dimensional target guidance command to re-acquire the target; Target tracking process: After the target is successfully intercepted, the phased array radar automatically enters the tracking process; after entering the tracking process, a group of detection beams are emitted to the latest target position each time. After completing the pulse accumulation, the subsequent signal processing and data processing processes are run to obtain the updated target position until the target is lost or an external state switching command is received.

[0006] Preferably, when the target is lost during the tracking process, the system predicts the target position based on historical tracking information. If the target can be re-intercepted, the target will continue to be tracked. If the target cannot be intercepted after a certain number of predicted tracking times, the target capture process will be re-entered according to the latest two-dimensional target guidance instructions.

[0007] Preferably, the target capture process specifically includes the following steps: Step S1. Convert the target coordinates in the two-dimensional target guidance instruction from the platform coordinate system to the earth coordinate system; Step S2. Predict and calculate the target distance center and azimuth center; Step S3. Set the pitch scanning range parameters based on the pitch intercept airspace, generate the intercept wave position arrangement table, and send it to the antenna control processor; Step S4. After receiving the intercepted wave position arrangement, the antenna control processor converts the center of each beam of the phased array antenna from the earth coordinate system to the platform coordinate system, and performs beam transmission and echo reception operations; Step S5. The digital signal processing module receives the echo signal and processes the echo signal to obtain a set of intercepted echo points I at each wave position; Step S6. Associate the predicted target point with each wave position intercept echo point track set I respectively to obtain a candidate track set A; Step S7. Repeat steps S2 to S5 to obtain a set II of intercepted echo point traces at each wave position; Step S8. Associating the echo point track set II with the candidate track set A, and updating the candidate track with the successfully associated points; Step S9. The remaining points in the echo point track set II are associated with the guidance target prediction point to form a new track, and added to the candidate track set A; Step S10. Start tracking confirmation, perform track prediction for each track in the candidate track set A, and arrange the wave position according to the predicted target point; Step S11. Repeat steps S2 to S5 to obtain a set of intercepted echo point traces of each wave position III; Step S12: Associating the echo point track set III with the candidate track set A, and updating the candidate track with the successfully associated points; Step S13. Determine whether the tracking confirmation time exceeds the set value. If not, repeat steps S10 to S13. Otherwise, proceed to step S14. Step S14. Determine the validity of the track according to the number of valid detection points of the track, and delete invalid tracks; Step S15. Calculate the radial velocity of each valid track; Step S16. Calculate the target speed of the guidance track; Step S17. Perform track feature matching optimization on the valid tracks to obtain the best matching track; Step S18: Enter the target tracking process using the best matching track.

[0008] Preferably, the two-dimensional target guidance instruction includes target coordinates, speed and distance.

[0009] On the other hand, based on the same inventive concept, the present invention also proposes a multi-target tracking system based on two-dimensional information, the system is used to implement the above multi-target tracking method, the system includes: The RF front end is used to transmit radar signals and receive signals reflected from targets; The antenna control processor is used to control the RF front end to synthesize the radar beam and transmit the radar signal according to the instructions issued by the digital signal processing module, and at the same time receive the echo signal reflected by the target; The digital signal processing module receives the two-dimensional target guidance instructions transmitted from the outside and completes the wave position arrangement corresponding to the two-dimensional guidance, and sends it to the antenna control processor to complete the radar signal transmission; receives the echo signal reflected by the target and performs signal processing and data processing, completes the point trace detection for each wave position, obtains all the wave point trace data, performs point trace filtering and association, outputs the target information if the association is successful, and controls the system to enter the tracking process, otherwise it stands by and waits for the next two-dimensional target guidance instruction to re-intercept the target; After the system enters the tracking process, the RF front end transmits a set of detection beams to the latest target position each time, and the digital processing module receives the echo signal. After completing the pulse accumulation, it runs the subsequent signal processing and data processing process to obtain the updated target position until the target is lost or an external state switching command is received; The power module is used to provide the required power for the phased array radar system.

[0010] Beneficial effects of the present invention: 1. The present invention can intercept and track multiple targets within a specific airspace with only two-dimensional guidance information of azimuth and distance, which not only improves the multi-target processing capability of the system, but also improves the diversity of radar adaptation to external target command guidance information and the working condition adaptability of the radar detection system.

[0011] 2. The present invention enables the tracking radar system to work stably under various environmental conditions, thereby improving the robustness of the system.

[0012] 3. The real-time data processing and feedback mechanism of the present invention ensures that the system can quickly respond to changes in the target and improves the real-time nature of tracking. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] The foregoing and following detailed description of the present invention will become more apparent when read in conjunction with the following drawings, in which: Figure 1 A flow chart is captured for the purpose of the present invention; Figure 2 This is a target tracking flow chart of the present invention. DETAILED DESCRIPTION

[0014] In order to enable those skilled in the art to better understand the technical solutions in the present invention, the technical solutions for achieving the purpose of the present invention will be further described below through several specific embodiments. It should be noted that the technical solutions claimed for protection in the present invention include but are not limited to the following embodiments. Based on the embodiments in the present invention, all other embodiments obtained by those skilled in the art without creative work shall fall within the scope of protection of the present invention.

[0015] In addition to tracking specific targets based on azimuth, elevation, and distance information, tracking radar systems also need to be able to track multiple targets within a specific airspace with only azimuth and distance guidance information. Currently, tracking radar systems do not have a method for tracking multiple targets based on 2D guidance information.

[0016] Based on this, an embodiment of the present invention proposes a multi-target tracking method based on two-dimensional information. When only azimuth and distance information is available, the present invention can still achieve effective tracking of multiple targets within a specific airspace, and the tracking radar system still maintains the ability to track the targets.

[0017] Example 1 As the most basic implementation method of the present invention, this embodiment first discloses a multi-target tracking method based on two-dimensional information. Figure 1 The method mainly includes two processes: target capture and target tracking. When the tracking radar system is powered on and starts working, it continuously receives target guidance instructions transmitted from the outside. After receiving the external guidance instructions, the tracking radar system first determines whether the external guidance instructions are two-dimensional guidance information or three-dimensional guidance information, and then generates the corresponding wave position arrangement according to the guidance information, completes the system radar antenna beam transmission based on the wave position arrangement, and then executes the corresponding target capture process and target tracking process.

[0018] It should be noted that the interception and tracking of multiple targets under three-dimensional guidance information can refer to the existing solutions, which is not the focus and invention of this solution and will not be described in detail here. The focus of this solution is on the tracking of multiple targets under two-dimensional guidance information, and this part will be described and explained in detail below, as follows.

[0019] Target acquisition process: After the tracking radar system receives the two-dimensional target guidance command transmitted by the external two-dimensional search radar, it completes the wave position arrangement corresponding to the two-dimensional guidance. Then the system controls the RF front end of the radar antenna to complete the beam transmission according to the wave position arrangement. The digital signal processing module receives the echo data and processes the data. After each wave position completes the point trace detection and obtains the point trace data of all wave position points, it performs point trace filtering and association. If the association is successful, the target information is output and the tracking process is entered. Otherwise, it stands by and waits for the next two-dimensional target guidance command to re-intercept the target.

[0020] Target tracking process: After the target is successfully intercepted, the phased array radar automatically enters the tracking process; after entering the tracking process, a group of detection beams are emitted to the latest target position each time. After completing the pulse accumulation, the subsequent signal processing and data processing processes are run to obtain the updated target position until the target is lost or an external state switching command is received.

[0021] Furthermore, the target capture process specifically includes the following steps: Step S1. The tracking radar system converts the target coordinates in the received two-dimensional target guidance instruction from the platform coordinate system to the earth coordinate system.

[0022] In the embodiments described in the present invention, the two-dimensional target guidance instruction generally includes information such as target coordinates, target speed and target distance.

[0023] Step S2: The tracking radar system predicts and calculates the target range center and azimuth center.

[0024] Step S3. The tracking radar system sets the elevation scanning range parameters based on the elevation intercept airspace, then generates an intercept wave position arrangement table and sends it to the antenna control processor of the system.

[0025] In the implementation mode described in the present invention, the beam position arrangement table demarcates the size of the interception airspace according to the azimuth and elevation angle ranges, and then determines how many beam positions need to be deployed according to the beam position size.

[0026] Step S4. After receiving the intercepted wave position arrangement, the antenna control processor converts the center of each beam of the phased array antenna from the earth coordinate system to the platform coordinate system, and then controls the phased array antenna to perform beam transmission operations.

[0027] Step S5. After the phased array antenna transmits the beam, the digital signal processing module performs an echo reception operation; after receiving the echo signal, the digital signal processing module processes the echo signal to obtain a set of intercepted echo point traces I at each wave position.

[0028] Step S6. Associate the predicted target point with the intercepted echo point track set I of each wave position to form a candidate track set A.

[0029] In the embodiment described in the present invention, the predicted target point is a point predicted by the system based on the target echo data using the Kalman filter method; the candidate track set A is the possible track of the target.

[0030] In the implementation described in the present invention, point trace association is usually performed using speed, direction and distance information, which is a conventional method in the art and will not be described in detail here.

[0031] Step S7. Repeat steps S2 to S5 to obtain a set II of intercepted echo point traces at each wave position.

[0032] Step S8: associate the echo point track set II with the candidate track set A, and update the candidate track with the successfully associated points.

[0033] Step S9. Associate the remaining points in the echo point track set II with the guidance target prediction point to form a new track, and add the new track to the candidate track set A.

[0034] Step S10. Start tracking confirmation. The system predicts the track for each track in the candidate track set A and arranges the wave position according to the predicted target point.

[0035] In the embodiment described in the present invention, the track prediction generally adopts the Kalman filter method to control the beam pointing angle.

[0036] Step S11. Repeat steps S2 to S5 to obtain a set III of intercepted echo point traces at each wave position.

[0037] Step S12: associate the echo point track set III with the candidate track set A, and update the candidate track with the successfully associated points.

[0038] Step S13: Determine whether the tracking confirmation time exceeds the set value, for example, whether it exceeds 1 second; if not, repeat the above steps S10 to S13, otherwise proceed to step S14.

[0039] Step S14: Determine the validity of the track according to the number of valid detection points of the track, and delete invalid tracks.

[0040] In the implementation described in the present invention, it is generally considered that the track is valid if 10 points are determined continuously, otherwise it is an invalid track and is deleted.

[0041] Step S15: Calculate the radial velocity of each valid track.

[0042] In the embodiment described in the present invention, the radial velocity is usually calculated using a conventional method. Each track has corresponding distance information and time information, thereby calculating the radial velocity of the effective track.

[0043] Step S16: Calculate the target speed of the guidance track.

[0044] Step S17: Perform track feature matching optimization on the valid tracks to obtain the best matching track.

[0045] In the embodiment described in the present invention, track feature matching generally includes matching of distance, direction, and speed information.

[0046] Step S18: Enter the target tracking process using the best matching track.

[0047] After the tracking radar system enters the tracking process, it continuously detects a certain azimuth angle and outputs the detection results of the target, that is, it transmits a set of detection beams to the latest different target positions each time, collects echo signals and accumulates pulses, and then the digital signal processing module performs signal processing and data processing on the echo signals, and then performs point trace data processing operations and target association operations to determine whether the association is successful, so as to obtain the updated target position. This cycle repeats until the target is lost or an external state switching command is received.

[0048] When the target is lost during the tracking process, the system predicts the target position based on historical tracking information. If the target can be re-intercepted, the tracking process will continue. If the target cannot be intercepted after a certain number of predicted tracking times, the target acquisition process will be re-entered based on the latest two-dimensional target guidance information transmitted by the external radar.

[0049] In the embodiment described in the present invention, it should be noted that the digital signal processing module performs signal processing on the echo signal, which generally includes filtering, amplifying, digitizing and other operations on the received signal, and then performing data processing on the signal obtained after the signal processing operation to improve the data processing accuracy and filter out interference signals.

[0050] Example 2 This embodiment discloses a multi-target tracking system based on two-dimensional information, and the system is used to implement the above-mentioned multi-target tracking method based on two-dimensional information. Since the principle of solving the problem by the system is similar to that of the multi-target tracking method based on two-dimensional information, the implementation of the system can refer to the implementation of the method, and the repeated parts will not be repeated. As used below, the term "unit" or "module" can be a combination of software and / or hardware that implements a predetermined function. Although the device described in the following embodiments is preferably implemented in software, the implementation of hardware, or a combination of software and hardware is also possible and conceived. The multi-target tracking system includes a phased array radar tracking system, and further, the phased array radar tracking system includes: The RF front end is used to transmit radar signals and receive signals reflected from targets; The antenna control processor is used to control the RF front end to synthesize the radar beam and transmit the radar signal according to the instructions issued by the digital signal processing module, and at the same time receive the echo signal reflected by the target; The digital signal processing module receives the two-dimensional target guidance instructions transmitted from the outside and completes the wave position arrangement corresponding to the two-dimensional guidance, and sends it to the antenna control processor. The antenna controller controls the RF front end to synthesize the beam and transmit the radar signal according to the wave position arrangement; the digital signal processing module receives the echo signal reflected by the target and performs signal processing and data processing, completes point trace detection for each wave position, obtains all the wave point trace data, performs point trace filtering and association, outputs the target information if the association is successful, and controls the system to enter the tracking process, otherwise it will standby and wait for the next two-dimensional target guidance instruction to re-intercept the target; After the system enters the tracking process, the antenna control processor controls the RF front end to transmit a set of detection beams to the latest target position each time; the digital processing module receives the echo signal, completes the pulse accumulation, and runs the subsequent signal processing and data processing process to obtain the updated target position until the target is lost or an external state switching command is received; The power supply module is used to provide the required electrical energy for the radar system, including high voltage power supply and low voltage power supply.

[0051] In the embodiment described in the present invention, the radio frequency front end of the phased array radar tracking system is generally composed of a phased array antenna, a transmitter array and a receiver array; wherein the phased array antenna includes a first antenna array and a second antenna array.

[0052] The two antenna arrays are used to synthesize corresponding radar beams according to instructions; the transmitter array is used to communicate with the first antenna array and transmit radar signals; the receiver array is used to communicate with the second antenna array and receive signals reflected from the target.

[0053] It can be understood that the receiver array generally includes a plurality of receivers, the second antenna array includes a plurality of receiving antennas, and the plurality of receiving antennas communicate with the plurality of receivers via the plurality of communication leads.

[0054] It should be noted that the systems, models or units described in the above embodiments can be implemented by computer chips or entities, or by products with certain functions. For the convenience of description, in this specification, the above devices are described in various units according to their functions. Of course, when implementing the present invention, the functions of each unit can be implemented in the same or multiple software and / or hardware.

[0055] Furthermore, in the present specification, adjectives such as first and second may be used merely to distinguish one element or action from another, without necessarily or implying any actual such relationship or order.

[0056] Furthermore, on the other hand, this embodiment also provides a computer device, which includes a processor, an input device, an output device and a memory, and the processor, the input device, the output device and the memory are interconnected; wherein the memory is used to store a computer program, the computer program includes program instructions, and the processor is configured to call the program instructions to execute the steps in the above embodiment.

[0057] Furthermore, another aspect of this embodiment also provides a computer-readable storage medium, characterized in that: the computer-readable storage medium stores a computer program, the computer program includes program instructions, and when the program instructions are executed by a processor, the processor executes the steps in the above embodiment.

[0058] In this embodiment, the processor may be a central processing unit (CPU). The processor may also be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or a combination of the above chips.

[0059] The memory, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs, non-transitory computer executable programs and units, such as the corresponding program units in the above method embodiments of the present invention. The processor executes various functional applications of the processor and works data processing by running the non-transitory software programs, instructions and modules stored in the memory, that is, implementing the method in the above method embodiments.

[0060] The memory may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function; the data storage area may store data created by the processor, etc. In addition, the memory may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage device. In some embodiments, the memory may optionally include a memory remotely arranged relative to the processor, and these remote memories may be connected to the processor via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0061] The one or more units are stored in the memory, and when executed by the processor, the method in the above embodiment is performed.

[0062] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware.

[0063] The above description is only a preferred embodiment of the present invention and does not constitute any form of hindrance to the present invention. Any simple modification or equivalent changes made to the above embodiments based on the technical essence of the present invention shall fall within the protection scope of the present invention.

Claims

1. A multi-target tracking method based on two-dimensional information, characterized in that: The method includes a target capture process and a target tracking process; wherein, Target acquisition process: After receiving the two-dimensional target guidance command, the phased array radar system completes the wave position arrangement corresponding to the two-dimensional guidance, and the antenna control processor controls the RF front end to transmit the radar signal according to the wave position arrangement; the digital signal processing module completes the echo signal acquisition, signal processing and data processing, completes the point trace detection for each wave position, and after obtaining all the wave point trace data, performs point trace filtering and association. If the association is successful, the target information is output and the tracking process is entered, otherwise it will stand by and wait for the next two-dimensional target guidance command to re-intercept the target; Target tracking process: After the target is successfully intercepted, the phased array radar system automatically enters the tracking process; after entering the tracking process, a group of detection beams are emitted to the latest target position each time. After completing the pulse accumulation, the subsequent signal processing and data processing processes are run to obtain the updated target position until the target is lost or an external state switching command is received.

2. A multi-target tracking method based on two-dimensional information according to claim 1, characterized in that: When the target is lost during the tracking process, the phased array radar system predicts the target position based on historical tracking information. If the target can be re-intercepted, it will continue to track the target. If the target cannot be intercepted after a certain number of predicted tracking times, it will re-enter the target acquisition process according to the latest two-dimensional target guidance instructions.

3. The multi-target tracking method based on two-dimensional information according to claim 1, characterized in that: The target capture process specifically includes the following steps: Step S1. Convert the target coordinates in the two-dimensional target guidance instruction from the platform coordinate system to the earth coordinate system; Step S2. Predict and calculate the target distance center and azimuth center; Step S3. Set the pitch scanning range parameters based on the pitch intercept airspace, generate the intercept wave position arrangement table, and send it to the antenna control processor; Step S4. After receiving the intercepted wave position arrangement, the antenna control processor converts the center of each beam of the phased array antenna from the earth coordinate system to the platform coordinate system, and performs beam transmission and echo reception operations; Step S5. The digital signal processing module receives the echo signal and processes the echo signal to obtain a set of intercepted echo points I at each wave position; Step S6. Associate the predicted target point with each wave position intercept echo point track set I respectively to obtain a candidate track set A; Step S7. Repeat steps S2 to S5 to obtain a set II of intercepted echo point traces at each wave position; Step S8. Associating the echo point track set II with the candidate track set A, and updating the candidate track with the successfully associated points; Step S9. The remaining points in the echo point track set II are associated with the guidance target prediction point to form a new track, and added to the candidate track set A; Step S10. Start tracking confirmation, perform track prediction for each track in the candidate track set A, and arrange the wave position according to the predicted target point; Step S11. Repeat steps S2 to S5 to obtain a set of intercepted echo point traces of each wave position III; Step S12: Associating the echo point track set III with the candidate track set A, and updating the candidate track with the successfully associated points; Step S13. Determine whether the tracking confirmation time exceeds the set value. If not, repeat steps S10 to S13. Otherwise, proceed to step S14. Step S14. Determine the validity of the track according to the number of valid detection points of the track, and delete invalid tracks; Step S15. Calculate the radial velocity of each valid track; Step S16. Calculate the target speed of the guidance track; Step S17. Perform track feature matching optimization on the valid tracks to obtain the best matching track; Step S18: Enter the target tracking process using the best matching track.

4. The multi-target tracking method based on two-dimensional information according to claim 1, characterized in that: The target tracking process specifically includes the following steps: Step S19. Each time a set of detection beams is transmitted to the latest different target positions, and after completing the pulse accumulation, an updated target position is obtained through signal processing and data processing processes; Step S20. Repeat step S19 until the target is lost or an external state switching command is received.

5. The multi-target tracking method based on two-dimensional information according to claim 1, characterized in that: Two-dimensional target guidance instructions include target coordinates, speed, and distance.

6. A multi-target tracking system based on two-dimensional information, the system being used to implement the multi-target tracking method according to any one of claims 1 to 5, characterized in that: include: The RF front end is used to transmit radar signals and receive signals reflected from targets; The antenna control processor is used to control the RF front end to synthesize the radar beam and transmit the radar signal according to the instructions issued by the digital signal processing module, and at the same time receive the echo signal reflected by the target; The digital signal processing module receives the two-dimensional target guidance instructions transmitted from the outside and completes the wave position arrangement corresponding to the two-dimensional guidance, and sends it to the antenna control processor to complete the radar signal transmission; receives the echo signal reflected by the target and performs signal processing and data processing, completes the point trace detection for each wave position, obtains all the wave point trace data, performs point trace filtering and association, outputs the target information if the association is successful, and controls the system to enter the tracking process, otherwise it stands by and waits for the next two-dimensional target guidance instruction to re-intercept the target; After the system enters the tracking process, the RF front end transmits a set of detection beams to the latest target position each time, and the digital processing module receives the echo signal. After completing the pulse accumulation, it runs the subsequent signal processing and data processing process to obtain the updated target position until the target is lost or an external state switching command is received; The power module is used to provide the required power for the radar system.

7. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable in the processor, wherein when the processor executes the computer program, the multi-target tracking method according to any one of claims 1 to 5 is implemented.

8. A computer-readable storage medium storing a computer program, wherein the computer program, when executed in a computer processor, implements the multi-target tracking method according to any one of claims 1 to 5.

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