基于分布式有限感知网络的多伯努利目标跟踪  

Multi-Bernoulli Target Tracking Based on Distributed Limited Sensing Network

作　　者：吴孙勇[1,2] 王力 李天成 孙希延 蔡如华 WU Sun-Yong;WANG Li;LI Tian-Cheng;SUN Xi-Yan;CAI Ru-Hua(Mathematics and Computer Science College,Guilin University of Electronic Technology,Guilin 541004;Guangxi Key Laboratory of Precision Technology and Application,Guilin 541004;School of Automation,Northwestern Polytechnical University,Xi'an 710071)

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 [3]西北工业大学自动化学院,西安710071

出　　处：《自动化学报》2022年第5期1370-1384,共15页Acta Automatica Sinica

基　　金：国家自然科学基金(61861008,62071389,11661024);广西自然科学基金(2016GXNSFAA380073);广西研究生教育创新计划(2020YC XS084);桂林电子科技大学数学与计算科学学院论文培优项目(2019YJSPY04)资助。

摘　　要：针对感知范围受限的分布式传感网多目标跟踪问题,在多伯努利滤波跟踪理论基础上提出分布式视场互补多伯努利关联算术平均融合跟踪方法.首先,通过视场互补扩大传感器感知范围,其中,局部公共区域只互补一次以降低计算成本.其次,每个传感器分别运行局部多伯努利滤波器,并将滤波后验结果与相邻传感器进行泛洪通信使得每个传感器获取多个相邻传感器的后验信息.随后,通过距离划分进行多伯努利关联,将对应于同一目标的伯努利分量关联到同一个子集中,并对每个关联子集进行算术平均融合完成融合状态估计.仿真实验表明,所提方法在有限感知范围的分布式传感器网络中能有效地进行多目标跟踪.In order to solve the problem of multi-target tracking in distributed sensor networks with limited sensing range(LSR),a distributed arithmetic average(AA)fusion multi-Bernoulli filter is proposed based on field of view complementation and multi-Bernoulli association.First,the sensor’s sensing range is expanded by complementing the field of view,in which the local common areas are complemented only once to reduce the calculation cost.Secondly,each sensor separately operates a local multi-Bernoulli filter and conducts flood communication between neighbor sensors over the filter posteriors,so that each sensor can obtain posterior information of multiple sensors.Then,multi-Bernoulli correlation is performed by distance division to associate Bernoulli components corresponding to the same target to the same subset,and the AA fusion is performed for each associated subset to complete fusion state estimation.Simulation results show that the proposed method can effectively track multiple targets in distributed sensor networks with LSR.

关 键 词：有限感知范围 视场互补 多伯努利关联 算术平均融合 多目标跟踪 

分 类 号：TP391.41[自动化与计算机技术—计算机应用技术] TP212[自动化与计算机技术—计算机科学与技术]