基于改进对称量测方程的多目标跟踪  

Multiple targets tracking using modified symmetric measurement equations

作　　者：吴潇[1] 黄树彩[1] 凌强[1] 钟宇[1] 

机构地区：[1]空军工程大学防空反导学院,陕西西安710051

出　　处：《系统工程与电子技术》2016年第1期21-25,共5页Systems Engineering and Electronics

基　　金：航空科学基金(20130196004)资助课题

摘　　要：采用传统对称量测方程对多维多目标跟踪会增加伪观测量,在目标航迹交叉点附近容易产生较大跟踪误差。针对这一问题,提出一种基于多项式因式分解思想的改进对称量测方程,通过建立同一目标在不同坐标系中状态之间的联系,将新量测集与原始量测集的对应关系描述的更加准确,利用泰勒展开公式推导出新量测的观测误差,求出相应的观测误差协方差阵。与现有对称量测方程方法和联合概率数据关联算法仿真对比,验证所提方法不仅延续了对称量测方程时效性优势,而且提高了目标在航迹交叉时的跟踪精度。The classical symmetric measurement equation（SME）approach will produce pseudo-measurements while tracking multiple targets in multi-dimensions,which induces large tracking errors around the coordinate switching areas.To solve this problem,a modified SME is proposed by polynomial factoring to connect states of one target with different coordinates.As a result,the mapping relationships of original observations to new mesurements are described more precisely.The new measurement noise covariance matrix is deduced corresponding to the new SME measure noises which are derived by Taylor series expansions.Finally,simulations are constructed to validate the new SME＇s characteristics by comparing with the existing SME approaches and joint probability data association algorithm respectively.Results show that the modified SME approach not only maintains the advantage of real-time performances,but also does well in improving tracking accuracy during the coordinate switching areas.

关 键 词：对称量测方程 多目标跟踪 多项式因式分解 

分 类 号：V249[航空宇航科学与技术—飞行器设计]