适用于多目标轨迹小角度交叉的PHD滤波器

doi:10.12305/j.issn.1001-506X.2023.04.06

摘要/Abstract

摘要：

多目标轨迹小角度交叉时，空间紧邻目标和不可分辨目标会导致概率假设密度(probability hypothesis density, PHD)滤波器存在错误估计和航迹断裂问题。针对这一问题，提出一种适用于跟踪轨迹小角度交叉多目标的改进PHD滤波器。首先，建立一种多目标不可分辨概率模型，并基于该模型对目标检测概率进行修正，以适应存在不可分辨目标的场景；然后，对更新后的目标权重进行调整，保证空间邻近目标与量测一一对应的原则。仿真结果表明，改进算法可有效提高轨迹小角度交叉场景下的目标估计精度和航迹连续性，为多目标轨迹交叉跟踪这一难点问题提供了有效的解决途径。

关键词: 多目标跟踪, 轨迹小角度交叉, 空间紧邻目标, 不可分辨目标

Abstract:

When multi-target trajectories cross at small angles, the spatially close targets and unresolved targets will lead to wrong estimation and track breakage in the probability hypothesis density (PHD) filter. To solve this problem, an improved PHD filter is proposed for small-angle crossing of multi-target trajectories. Firstly, a multi-target unresolved probability model is established, and the target detection probability is modified to adapt to the scene where there are unresolved measurements. Secondly, the weight of the updated Gaussian component is redistributed to ensure the one-to-one correspondence between spatial close targets and measurements. Simulation results show that the improved algorithm can effectively improve the target estimation accuracy and track continuity with small-angle crossing of multi-target trajectories, and it provide an effective solution to the difficult problem of multi-target trajectories crossing.

Key words: multi-target tracking, trajectory small-angle crossing, spatially close target, unresolved target

中图分类号:

TN953

刘政玮, 陈映, 鲁耀兵. 适用于多目标轨迹小角度交叉的PHD滤波器[J]. 系统工程与电子技术, 2023, 45(4): 982-990.

Zhengwei LIU, Ying CHEN, Yaobing LU. PHD filter for small-angle crossing of multi-target trajectories[J]. Systems Engineering and Electronics, 2023, 45(4): 982-990.

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目标	出现时刻/s	终止时刻/s	初始状态
目标1	k=1	k=100	[－600, 0, －100, 0]
目标2	k=1	k=80	[－800, 0, －200, 0]
目标3	k=60	k=100	[－200, 0, 800, 0]

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