考虑配准时空误差的多目标标签多伯努利滤波

doi:10.3969/j.issn.1001-506X.2020.04.22

系统工程与电子技术 ›› 2020, Vol. 42 ›› Issue (4): 904-911.doi: 10.3969/j.issn.1001-506X.2020.04.22

考虑配准时空误差的多目标标签多伯努利滤波

卢晓东¹(), 崔涛¹(), 王伟²(), 程承¹()

1. 西北工业大学精确制导与控制研究所, 陕西西安 710072
2. 航空工业自动控制研究所飞行器控制一体化技术国防科技重点实验室, 陕西西安 710065

收稿日期:2019-09-23 出版日期:2020-03-28 发布日期:2020-03-28
作者简介:卢晓东(1979-),男,副教授,博士,主要研究方向为协同探测和目标跟踪。E-mail:luxiaodong@nwpu.edu.cn|崔涛(1993-),男,硕士研究生,主要研究方向为多目标跟踪。E-mail:814632976@qq.com|王伟(1978-),男,研究员,博士,主要研究方向为组合导航和控制。E-mail:weiwanglelelele@163.com|程承(1986-),男,讲师,博士,主要研究方向为组合导航和滤波技术。E-mail:selfch@163.com
基金资助:
航空科学基金(20185853040);“十三五”装备预研兵器工业联合基金(6141B0128112)

Multi-target labeled multi-Bernoulli filter with time-delay and registration errors

Xiaodong LU¹(), Tao CUI¹(), Wei WANG²(), Cheng CHENG¹()

1. Institute of Precision Guidance and Control, Northwestern Polytechnical University, Xi'an 710072, China
2. National Key Laboratory of Science and Technology on Aircraft Control, Flight Automatic Control Research Institute, Xi'an 710065, China

Received:2019-09-23 Online:2020-03-28 Published:2020-03-28
Supported by:
航空科学基金(20185853040);“十三五”装备预研兵器工业联合基金(6141B0128112)

摘要/Abstract

摘要：

针对多传感器协同跟踪目标过程中存在多节点间的信息时间延迟和空间配准偏差问题,提出基于配准偏差和时间延迟的标签多伯努利滤波(labeled multi-Bernoulli based on the registration errors and time delay, LMB-ReDe)算法。首先,通过排队论对节点个数随机变化的网络时间随机延迟进行建模;然后,构建了延迟环境中的非固定周期的目标转移过程和时间延迟过程中的伪量测;最后,在LMB滤波基础上提出LMB-ReDe算法实现目标状态的实时估计。仿真结果表明,在节点数随机变化的多传感器协同探测中,采用LMB-ReDe滤波器跟踪位置精度优于标准的LMB滤波器。

关键词: 时间延迟, 配准偏差, 多目标跟踪, 标签多伯努利, 排队论

Abstract:

As the random time-delay and space registration errors exist in the process of multi-missile cooperation multi-target tracking, the labeled multi-Bernoulli filter based on the registration errors and time delay (LMB-ReDe) is proposed. Firstly, the random time-delay changing with the number of nodes is modeled through the queuing theory, Then, the transfer process of target state with no-constant periodic and pseudo measurement is established. Finally, the LMB-ReDe based on the labeled multi-Bernoulli LMB filter is adopted to address the estimation of target state with real-time. The simulation results show the LMB-ReDe track multiple target with better performance than the standard LMB under the process of multi-missile cooperation multi-target tracking.

Key words: time-delay, registration error, multi-target tracking, labeled multi-Bernoulli (LMB), queuing theory

中图分类号:

TP391

卢晓东, 崔涛, 王伟, 程承. 考虑配准时空误差的多目标标签多伯努利滤波[J]. 系统工程与电子技术, 2020, 42(4): 904-911.

Xiaodong LU, Tao CUI, Wei WANG, Cheng CHENG. Multi-target labeled multi-Bernoulli filter with time-delay and registration errors[J]. Systems Engineering and Electronics, 2020, 42(4): 904-911.

图/表 10

图1

图2

图3

图4

图5

图6

图7

图8

图9

图10

参考文献 30

1	李志汇, 刘昌云, 倪鹏. 反导多传感器协同任务规划综述[J]. 宇航学报, 2016, 37 (1): 29- 35. doi: 10.3873/j.issn.1000-1328.2016.01.004
	LI Z H , LIU C Y , NI P . Review on multi-sensor cooperative mission planning in anti-TBM system[J]. Journal of Astronautics, 2016, 37 (1): 29- 35. doi: 10.3873/j.issn.1000-1328.2016.01.004
2	高晓光, 李飞, 万开方. 数据丢包环境下的多传感器协同跟踪策略研究[J]. 系统工程与电子技术, 2018, 40 (11): 2450- 2458. doi: 10.3969/j.issn.1001-506X.2018.11.10
	GAO X G , LI F , WAN K F . Research on multi-sensor cooperative tracking strategy in data packet loss environment[J]. System Engineering and Electronics, 2018, 40 (11): 2450- 2458. doi: 10.3969/j.issn.1001-506X.2018.11.10
3	LI M Z, JING Z L. Exact joint estimation of registration error and target states based on GLMB filter[C]//Proc.of the 20th International Conference on Information Fusion, 2017.
4	SCHLANGEN I , DELANDE E D , HOUSSINEAU J , et al. A second-order PHD filter with mean and variance in target number[J]. IEEE Trans.on Signal Processing, 2018, 66 (1): 48- 63.
5	MAHLER R . Multi-target Bayes filtering via first-order multi-target moments[J]. IEEE Trans.on Signal Processing, 2003, 39 (4): 1152- 1178.
6	VO B N , SINGH S . Sequential Monte Carlo methods for multi-target filtering with random finite sets[J]. IEEE Trans.on Aerospace and Electronic Systems, 2005, 41 (4): 1224- 1245. doi: 10.1109/TAES.2005.1561884
7	VO B N , MA W K . The Gaussian mixture probability hypothesis density filter[J]. IEEE Trans.on Signal Processing, 2006, 54 (11): 4091- 4104. doi: 10.1109/TSP.2006.881190
8	MAHLER R . PHD filters of higher order in target number[J]. IEEE Trans.on Aerospace and Electronic Systems, 2007, 43 (4): 1523- 1543. doi: 10.1109/TAES.2007.4441756
9	周卫东, 张鹤冰, 吉宇人. 基于SMC-CPHD的多目标跟踪算法研究[J]. 宇航学报, 2012, 33 (4): 443- 450.
	ZHOU W D , ZHANG H B , JI Y R . Multi-target tracking algorithm based on SMC-CPHD Filter[J]. Journal of Astronautics, 2012, 33 (4): 443- 450.
10	VO B T , VO B N . Labeled random finite sets and multi-object conjugate priors[J]. IEEE Trans.on Signal Processing, 2013, 61 (13): 3460- 3475. doi: 10.1109/TSP.2013.2259822
11	VO B N , VO B T . Labeled random finite sets and the Bayes multi-target tracking filter[J]. IEEE Trans.on Signal Processing, 2014, 62 (24): 6554- 6567. doi: 10.1109/TSP.2014.2364014
12	曹倬, 冯新喜, 蒲磊, 等. 基于标签随机有限集滤波器的多扩展目标跟踪算法[J]. 系统工程与电子技术, 2018, 40 (3): 526- 532.
	CAO Z , FENG X X , PU L , et al. Multiple extended targets tracking algorithm based on Gaussian-mixture probability hypothesis density filter[J]. System Engineering and Electronics, 2018, 40 (3): 526- 532.
13	REUTER S , VO B T , VO B N . The labeled multi-Bernoulli filter[J]. IEEE Trans.on Signal Processing, 2014, 62 (12): 3246- 3260. doi: 10.1109/TSP.2014.2323064
14	YANG Y , SU H , HU Q , et al. Centralized adaptive CFAR detection with registration errors in multi-static radar[J]. IEEE Trans.on Aerospace and Electronic Systems, 2018, 54 (5): 2370- 2382. doi: 10.1109/TAES.2018.2816467
15	LIAN F , HAN C Z , et al. Joint spatial registration and multi-target tracking using an extended probability hypothesis density filter[J]. IET Radar, Sonar and Navigation, 2011, 5 (4): 441- 448. doi: 10.1049/iet-rsn.2010.0057
16	LI W L , JIA Y M . Gaussian mixture PHD filter for multi-sensor multi-target tracking with registration errors[J]. Signal Processing, 2012, 93, 86- 99.
17	WU W , JIANG J , LIU W , et al. Augmented state GM-PHD filter with registration errors for multi-target tracking by Doppler radars[J]. Signal Processing, 2016, 120, 117- 128. doi: 10.1016/j.sigpro.2015.09.001
18	LIAN F , HAN C Z . Joint spatial registration and multi-target tracking using an extended PM-CPHD filter[J]. Science China, 2012, 55 (3): 501- 511.
19	HE X Y , LIU G X . Cardinality balanced multi-target multi-Bernoulli filter with error compensation[J]. Sensors, 2016, 16 (1399): 3- 13.
20	钱山, 李鹏奎. MIMU/GPS组合导航建模及GPS时间延迟补偿算法研究[J]. 系统工程与电子技术, 2009, 31 (6): 1432- 1435. doi: 10.3321/j.issn:1001-506X.2009.06.038
	QIAN S , LI P K . Study on modeling of MIMU/GPS navigation and time delay synchronization method of GPS[J]. Systems Engineering and Electronics, 2009, 31 (6): 1432- 1435. doi: 10.3321/j.issn:1001-506X.2009.06.038
21	冯忠华, 王新龙, 王彬. 一种数据链传输延迟建模及其补偿方法[J]. 北京航空航天大学学报, 2012, 38 (8): 1106- 1110.
	FENG Z H , WANG X L , WANG B . Transfer time delay model of data link and its compensation[J]. Journal of Beijing University of Aeronautics and Astronautics, 2012, 38 (8): 1106- 1110.
22	SUN S L . Optimal linear filters for discrete-time systems with randomly delayed and measurements with/without time stamps[J]. IEEE Trans.on Automatic Control, 2013, 58 (6): 1551- 1556. doi: 10.1109/TAC.2012.2229812
23	GARCÍA-LIGERO M J , HERMOSO-CARAZO A , LINARES-PÉREZ J . Distributed fusion estimation in networked systems with uncertain observations and Markovian random delays[J]. Signal Processing, 2015, 106, 114- 122. doi: 10.1016/j.sigpro.2014.07.003
24	LI N , SUN S , MA J . Multi-sensor distributed fusion filtering for networked systems with different delay and loss rates[J]. Digital Signal Processing, 2014, 34, 29- 38. doi: 10.1016/j.dsp.2014.07.016
25	CABALLERO-ÁGUILA R , HERMOSO-CARAZO A , LINARES-PÉREZ J . Networked distributed fusion estimation under uncertain outputs with random transmission delays, packet losses and multi-packet processing[J]. Signal Processing, 2019, 156, 71- 83. doi: 10.1016/j.sigpro.2018.10.012
26	宋晓雪.无线自组织网络时间同步技术[D].成都:电子科技大学, 2015.
	SONG X X. Research on tine synchronization in wireless ad hoc network[D]. Chengdu: University of Electronic Science and Technology of China, 2015.
27	OZMEN M , GURSOY M C . Wireless throughput and energy efficiency with random arrivals and statistical queuing constraints[J]. IEEE Trans.on Information Theory, 2016, 62 (3): 1375- 1395. doi: 10.1109/TIT.2015.2510027
28	SHARMA A , JAGANNATHAN K , VARSHNEY L . Queuing approaches to principal-agent communication under information overload[J]. IEEE Trans.on Information Theory, 2017, 63 (9): 6041- 6058.
29	唐加山. 排队论及其应用[M]. 北京: 科学出版社, 2016.
	TANG J S . Queuing theory and its application[M]. Beijing: Science Press, 2016.
30	SCHUHMACHER D , VO B T , VO B N . A consistent metric for performance evaluation of multi-object filters[J]. IEEE Trans.on Signal Processing, 2008, 56 (12): 3447- 3457.

[1]	周文明, 崔德康, 周婧怡, 张明明, 朱安石. 储供基地支援保障能力评估混合算法[J]. 系统工程与电子技术, 2022, 44(9): 2832-2839.
[2]	侯子林, 程婷, 彭瀚. 基于量测转换序贯滤波的GMPHD机动目标跟踪[J]. 系统工程与电子技术, 2022, 44(8): 2474-2482.
[3]	翟光, 王妍欣, 孙一勇. 基于低轨星网的多目标协同跟踪滤波技术[J]. 系统工程与电子技术, 2022, 44(6): 1957-1967.
[4]	辛怀声, 曹晨. 基于交互多模型的分组δ-广义标签多伯努利算法[J]. 系统工程与电子技术, 2022, 44(4): 1128-1138.
[5]	宋子壮, 杨嘉伟, 张东方, 王诗强, 张硕. 基于无锚框的红外多类别多目标实时跟踪网络[J]. 系统工程与电子技术, 2022, 44(2): 401-409.
[6]	辛怀声, 宋鹏汉, 曹晨. 多模型广义标签多伯努利滤波器[J]. 系统工程与电子技术, 2022, 44(12): 3603-3613.
[7]	曾斌, 姚路, 李厚朴. 警戒海域反潜直升机优化调度研究[J]. 系统工程与电子技术, 2021, 43(6): 1586-1595.
[8]	齐美彬, 胡晶晶, 程佩琳, 靳学明. δ-广义标签多伯努利滤波算法的非线性扩展[J]. 系统工程与电子技术, 2021, 43(12): 3571-3578.
[9]	尹立凡, 张奕群, 王硕, 孙承钢. 直方图概率多假设跟踪方法技术综述[J]. 系统工程与电子技术, 2021, 43(11): 3118-3125.
[10]	李正杰, 谢军伟, 张浩为, 张昭建. 基于集中式MIMO雷达的功率带宽联合分配算法[J]. 系统工程与电子技术, 2020, 42(5): 1041-1049.
[11]	彭华甫, 黄高明, 田威, 邱昊. 基于幅度信息的标签多伯努利滤波算法[J]. 系统工程与电子技术, 2018, 40(12): 2636-2641.
[12]	刘建业, 王华, 周晚萌. 基于GA-SA的低轨星座传感器资源调度算法[J]. 系统工程与电子技术, 2018, 40(11): 2476-.
[13]	宋喜玉, 郑娜娥, 高留洋. 多目标跟踪的分布式MIMO雷达有限阵元选取算法[J]. 系统工程与电子技术, 2017, 39(9): 1992-1997.
[14]	谷晓琳, 周石琳, 雷琳. 基于m-best数据关联和小轨迹关联多目标跟踪算法[J]. 系统工程与电子技术, 2017, 39(7): 1640-1646.
[15]	袁常顺, 王俊, 向洪, 孙进平. 基于VB近似的自适应δ-GLMB滤波算法[J]. 系统工程与电子技术, 2017, 39(2): 237-243.

考虑配准时空误差的多目标标签多伯努利滤波

Multi-target labeled multi-Bernoulli filter with time-delay and registration errors

RichHTML

PDF (PC)

可视化

摘要/Abstract

引用本文

使用本文

图/表 10

参考文献 30

相关文章 15

编辑推荐

Metrics

本文评价