交互式箱粒子标签多伯努利机动目标跟踪算法  

Interacting Multiple Model Box-LMB Target Tracking Algorithm

作　　者：蔡如华[1] 杨标 吴孙勇[1,2] 孙希延 CAI Ru-Hua;YANG Biao;WU Sun-Yong;SUN Xi-Yan(Mathematics and Computer Science College,Guilin Univer-sity of Electronic Technology,Guilin 541004;Guangxi Key Laboratory of Precision Navigation Technology and Application,Guilin 541004)

机构地区：[1]桂林电子科技大学数学与计算科学学院,桂林541004 [2]广西精密导航技术与应用重点实验室,桂林541004

出　　处：《自动化学报》2020年第11期2448-2460,共13页Acta Automatica Sinica

基　　金：国家自然科学基金(61561016);广西自然科学基金(2016GXNS-FAA380073);广西密码学信息安全重点实验室研究课题项目(GCIS201611);广西高校数据分析与计算重点实验室开放基金项目资助。

摘　　要：针对多机动目标追踪问题,将交互式多模型(Interacting multiple model,IMM)思想与箱粒子标签多伯努利滤波器(Box-labeled multi-bernoulli filter,Box-LMB)相结合,提出交互式箱粒子标签多伯努利滤波器(IMM-Box-LMB)算法.该算法首先通过扩展多目标状态,引入模型匹配概率变量,并利用量测信息在预测阶段更新模型匹配概率,进而使用交互式多模型算法对每个箱粒子状态进行混合估计.其次,在更新阶段提出二次收缩算法,通过二次收缩算法使更新后的箱粒子具有更大的区间和存活概率,也更加接近真实目标位置,从而达到提升后续时刻箱粒子多样性的目的.仿真结果表明,二次收缩算法能够有效地提升箱粒子的多样性.将二次收缩算法应用于IMM-Box-LMB算法,能够在不同信噪比下稳定准确地估计机动目标的个数.相同条件下,与匀速直线运动(Constant velocity,CV)模型下的Box-LMB算法相比,IMM-Box-LMB算法能够对多机动目标的数目以及状态进行更加有效的估计.For the problem that the multiple maneuvering target tracking,an interacting multiple model box labeled multi-bernoulli(IMM-Box-LMB)filter is proposed.Firstly,by introducing the model matching probability variable,and using the measurement information to update it in the predictive stage of the IMM-Box-LMB filter,the interactive multiple model algorithm is used to estimate the state of each box particle.Secondly,put forward the quadratic contraction algorithm in the update stage of the filter.By using the quadratic contraction algorithm in the update stage of IMM-Box-LMB filter,the box particles will have greater interval and greater probability of survival after update,thus achieving the purpose to improve the diversity of the box particle.Simulation shows that the quadratic contraction algorithm can effectively improve the diversity of the box particle.Through using the quadratic contraction algorithm in the IMM-Box-LMB filter,the number of targets can be estimated stably and accurately under different clutter rates.In the same conditions,compared with the CV-Box-LMB algorithm,the IMM-BOX-LMB algorithm can estimate the cardinality and state of targets more effectively.

关 键 词：多机动目标追踪 交互式多模 标签多伯努利滤波 箱粒子滤波 收缩算法 

分 类 号：TN713[电子电信—电路与系统]