一種改進的高斯逆威沙特概率假設密度擴展目標跟蹤算法

李文娟; 呂靖; 顧紅; 蘇衛(wèi)民; 馬超; 楊建超

doi:10.11999/JEIT170883

一種改進的高斯逆威沙特概率假設密度擴展目標跟蹤算法

doi: 10.11999/JEIT170883

基金項目:

國家自然科學基金(61471198, 61671246)，江蘇省自然科學基金(BK20160847, BK20170855)

計量
- 文章訪問數(shù): 1792
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- 被引次數(shù): 0
出版歷程
- 收稿日期: 2017-09-19
- 修回日期: 2018-03-16
- 刊出日期: 2018-06-19

Improved Gaussian Inverse Wishart Probability Hypothesis Density for Extended Target Tracking

Funds:

The National Natural Science Foundation of China (61471198, 61671246), The Natural Science Foundation of Jiangsu Province (BK20160847, BK20170855)

摘要

摘要: 假設擴展目標(ET)的擴展和量測數(shù)目分別為橢圓和泊松模型，高斯逆威沙特概率假設密度(GIW-PHD)能夠估計擴展目標的運動和擴展狀態(tài)。然而，該濾波器對空間鄰近目標的數(shù)目、非橢圓目標和受到遮擋目標的擴展估計不夠準確。針對這些問題，該文提出一種改進的GIW-PHD。首先，假設目標擴展為一個相同尺寸的參考橢圓，通過設計新的散射矩陣得到改進的隨機矩陣(RM)方法。然后，將改進的RM方法與假設量測數(shù)目服從多伯努利分布的ET-PHD結(jié)合，得到改進的GIW-PHD濾波器。仿真和實驗結(jié)果表明，與傳統(tǒng)GIW-PHD相比，改進的GIW- PHD估計的目標數(shù)目和量測數(shù)目較多，擴展較大的橢圓和非橢圓目標的擴展更準確。
- 擴展目標跟蹤 /
- 高斯逆威沙特概率假設密度 /
- 隨機矩陣 /
- 多伯努利分布
Abstract: Assumed that extension and measurement number of Extended Targets (ET) are respectively modeled as ellipse and Poisson, a Gaussian Inverse Wishart Probability Hypothesis Density (GIW-PHD) filter can estimate kinematic and extension states. However, for the number of spatially close targets and the extensions of non-ellipsoidal and occluded targets, the results estimated by this filter are not accurate enough. In view of these problems, an improved GIW-PHD filter is proposed in this paper. Firstly, assumed that target extension is modeled as a reference ellipse of the same size, a modified Random Matrix (RM) method is obtained by devising a new scatter matrix. Then, combining the improved RM method with the ET-PHD based on a measurement number multi-Bernoulli model, the improved GIW-PHD filter is obtained. Simulated and experimental results show that, compared with the traditional GIW-PHD, the improved GIW-PHD filter can obtain more accurate estimates in target number and the extensions of ellipsoidal and non-ellipsoidal targets with large measurement number and extensions.
- Extended target tracking /
- Gaussian Inverse Wishart Probability Hypothesis Density (GIW-PHD) /
- Random Matrix (RM) /
- Multi-Bernoulli distribution

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參考文獻(18)

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