多扩展目标跟踪中基于加权最优子模式分配距离的传感器管理方法  

Sensor management method based on weighted optimal sub-pattern assignment distance in multiple extended target tracking

作　　者：陈辉[1] 刘雅婷 张双庆 韩崇昭[2] CHEN Hui;LIU Ya-ting;ZHANG Shuang-qing;HAN Chong-zhao(School of Electrical and Information Engineering,Lanzhou University of Technology,Lanzhou Gansu 730050,China;Institute of Integrated Automation,Xi’an Jiaotong University,Xi’an Shaanxi 710049,China)

机构地区：[1]兰州理工大学电气工程与信息工程学院,甘肃兰州730050 [2]西安交通大学综合自动化研究所,陕西西安710049

出　　处：《控制理论与应用》2022年第5期887-896,共10页Control Theory & Applications

基　　金：国家自然科学基金项目(62163023,61873116,61763029);国防基础科研项目(JCKY2018427C002);甘肃省教育厅产业支撑计划项目(2021CYZC–02)资助。

摘　　要：针对多扩展目标跟踪优化中的传感器管理问题,本文基于随机有限集(RFS)提出一种基于加权最优子模式分配(W-OSPA)距离的传感器管理方法.首先,在部分可观测马尔可夫决策过程(POMDP)理论框架下,给出基于逆威沙特椭圆分布假设的多扩展目标跟踪传感器管理的基本方法.其次,利用W-OSPA距离求解多扩展目标后验分布的离差,以离差最小化获得最优化的多扩展目标状态估计设计传感器管理策略.最后,通过推导给出的离差数值求解方法进行最优传感器管理方案的决策.仿真实验基于OSPA距离评价验证了所提传感器管理方法相对于其他算法对多扩展目标的质心运动状态和椭圆形状都有更好的估计效果.To solve the problem of sensor management in multiple extended target tracking optimization,on the basis of the random finite set(RFS),a sensor management algorithm is proposed through the weighted optimal sub-pattern assignment(W-OSPA)distance.First,in the framework of partially observable Markov decision process(POMDP)theory,the basic sensor management method is given in multiple extended target tracking based on the ellipse assumption of inverse Wishart distribution.Then,the W-OSPA distance is used to solve the dispersion of the multiple extended target posterior distribution and correspondingly the sensor management strategy is designed to obtain the optimal multiple extended target state estimation by minimizing dispersion.After that,the decision of optimal sensor management scheme is made through the proposed numerical solution method of dispersion.The simulation experiments based on the OSPA distance evaluation verify that the proposed sensor management algorithm has a better estimation effect on the centroid motion state and the ellipse shape of multiple extended target than other algorithms.

关 键 词：传感器管理 随机有限集 加权最优子模式分配 多扩展目标跟踪 离差 

分 类 号：TP212[自动化与计算机技术—检测技术与自动化装置]