存在目标交叉情形的扩展目标跟踪算法

doi:10.16182/j.issn1004731x.joss.201701002

系统仿真学报 ›› 2017, Vol. 29 ›› Issue (1): 7-13.doi: 10.16182/j.issn1004731x.joss.201701002

存在目标交叉情形的扩展目标跟踪算法

陈金广, 江梦茜, 马丽丽

西安工程大学计算机科学学院,陕西西安 710048

收稿日期:2015-04-15 修回日期:2015-07-03 出版日期:2017-01-08 发布日期:2020-06-01
作者简介:陈金广(1977-),男,河南南阳,博士,副教授,研究方向为信息融合。
基金资助:
国家自然科学基金(61201118),中国博士后科学基金(2103M532020),陕西省自然科学基础研究计划项目(2016JM6030)

Extended Target Tracking in Presence of Target Crossing

Chen Jinguang, Jiang Mengxi, Ma Lili

School of Computer Science, Xi'an Polytechnic University, Xi'an 710048, China

Received:2015-04-15 Revised:2015-07-03 Online:2017-01-08 Published:2020-06-01

摘要/Abstract

摘要： 扩展目标跟踪过程中,若出现目标交叉,直接采用扩展目标高斯混合概率假设密度滤波算法会出现目标漏估计。针对该问题,提出了一种改进算法。计算每一时刻跟踪到的目标间的欧式距离,以此判定目标是否处于临近区域。在下一时刻,若临近区域内跟踪到的目标数目突然变少,则对临近区域内目标对应的高斯分量权值进行补偿;否则看作是正常的目标消亡现象,不作处理。使用处理后的高斯分量进行目标估计和跟踪。改进算法解决了因量测集分布紧密而被划分到同一个子集带来的目标数目漏估计的问题。仿真实验结果表明了改进算法的精确性与有效性。

关键词: 扩展目标跟踪, 概率假设密度滤波, 随机有限集, 状态估计, 目标交叉

Abstract: In the process of extended target tracking, if there are some crossing targets, target missing problem in target estimation will appear when the extended target Gaussian mixture probability hypothesis density filter is used directly. Aiming at this problem, an improved algorithm was proposed. Euclidean distances among targets estimated were calculated at each time, and then these targets were distinguished if they were in an adjacent region or not. In the next time step, Gaussian components weights of the targets in the same adjacent region were compensated if the target number estimated became small; otherwise, there was nothing to do. These Gaussian components were applied to estimate and track the targets. The improved algorithm solved the estimated target missing problem when the extended targets were so close with partitioning into the same subset. Simulation results show that the improved algorithm is accuracy and effective.

Key words: extended target tracking, probability hypothesis density filter, random finite sets, sate estimation, target crossing

中图分类号:

TP391.9

陈金广, 江梦茜, 马丽丽. 存在目标交叉情形的扩展目标跟踪算法[J]. 系统仿真学报, 2017, 29(1): 7-13.

Chen Jinguang, Jiang Mengxi, Ma Lili. Extended Target Tracking in Presence of Target Crossing[J]. Journal of System Simulation, 2017, 29(1): 7-13.

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存在目标交叉情形的扩展目标跟踪算法

Extended Target Tracking in Presence of Target Crossing

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