Target tracking method and tracking system for nonlinear Gaussian system
A target tracking and non-linear technology, which is applied in the field of target tracking methods and tracking systems, can solve the problems that the filter recursion is difficult to handle the integral operation, distinguishing the targets at a close distance, and the integral operation does not have a closed form expression, etc.
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[0064] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.
[0065] Unlike the existing multi-objective Bayesian filter that maintains the joint posterior density of multiple object states, the multi-objective Bayesian filter provided by the present invention jointly transmits the marginal distribution of each object state and their existence probabilities. In order to deal with the nonlinearity in the target motion and sensor measurement model, the present invention uses unscented transformation to transform the integral operation problem in the filter recursive process into numerical calculation around the Sigma point. Furthermore, the present invention ca...
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