扩展目标GMPHD滤波器的航迹维持算法

概率假设密度(PHD)滤波器提供了各目标在每个时刻的状态信息,但未形成航迹。该文提出了扩展目标高斯混合PHD(GMPHD)滤波器的航迹维持算法。首先对后验概率强度的每个高斯分量添加标签;其次在后验概率强度随着时间进行演化时,标签也随之演化;并通过航迹管理方案为扩展目标提供航迹。为提高GMPHD滤波器性能,提出了自适应的量测集划分法。最后通过仿真验证了提出算法的有效性。

An Algorithm to Maintain the Track Continuity for Extended Target Gaussian mixture Probability Hypothesis Density Filter

The probability hypothesis density (PHD) filter only provides the state estimates of targets at each time step, but the individual tracks for targets were not involved. In this paper, an algorithm to maintain the track continuity for the extended targets is proposed for the extended target Gaussian mixture probability hypothesis density (GMPHD) filter. First, each individual Gaussian term of the mixture representing the posterior intensity function will be assigned a label, which is evolved through time. Then a track management scheme is developed to form the tracks for the extended targets. Furthermore, to improve the performance of the extended target GMPHD filter we also propose an adaptive measurement set partitioning algorithm for resolving the identities of the extended targets in close proximity. The simulation results show that the proposed tracker can achieve good tracking performance.