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Anti-flight path merging combined probability data association algorithm

A technology of joint probability and data association, applied in the direction of reflection/re-radiation of radio waves, use of re-radiation, measurement devices, etc., can solve the problems of violating the starting point of thinking, difficult to guarantee performance, and lack of rigorous derivation of algorithm rationality. The effect of avoiding cross update, clear logic, and avoiding the phenomenon of track merging

Inactive Publication Date: 2018-01-09
中国人民解放军63870部队
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Problems solved by technology

Essentially, these methods use the logic of hypothesis cutting or hypothesis probability scale scaling to "harden" the soft association decision of the JPDA algorithm, so these methods violate the starting point of the JPDA algorithm (that is, the Bayesian total probability formula), The rationality of the algorithm lacks rigorous derivation, and the performance is difficult to be guaranteed

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  • Anti-flight path merging combined probability data association algorithm
  • Anti-flight path merging combined probability data association algorithm
  • Anti-flight path merging combined probability data association algorithm

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example 1

[0051] The present invention comprises the following steps:

[0052] S.1 Solve the door area according to the state estimation of each target track, the error covariance matrix and the preset door probability;

[0053] At each moment k, the gate area of ​​target i can be obtained by the following formula constraints:

[0054]

[0055] Among them, z represents the observation space vector variable, H represents the observation matrix, Indicates the predicted state estimation of target i at time k, P i (k|k-1) represents the corresponding error covariance matrix, R represents the observation error covariance matrix, p g Indicates the gate probability, n indicates the dimension of the observation vector, and chi2inv(·) is the test function of the chi-square distribution.

[0056] S.2 Solve the door area according to step S.1, calculate all target door areas and all sensor observations (z j , 1≤j≤J k ), and then construct a possible correlation matrix;

[0057] The possibl...

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Abstract

The invention relates to an anti-flight path merging combined probability data association algorithm, belongs to the data association, target tracking and statistics signal processing field, and aimsto solve the flight path merging problems of a classic jointed probability data association algorithm (JPDA) under the target spatial domain dense conditions; the method comprises the following steps:firstly analyzing the essence reasons of the JPDA algorithm flight path merging phenomenon, deriving to get the problem keys, and observing adjacent targets to as to watch the mutual state intersectupdates; analyzing each feasible association hypothesis of the original JPDA algorithm, confirming certain hypothesis that may cause state intersect updates, avoiding the certain hypothesis accumulation effects on the corresponding target-flight path association probability, thus effectively preventing intersect updates, and finally solving the flight path merging problems.

Description

technical field [0001] The invention relates to a joint probability data association algorithm against track merging, which belongs to the fields of data association, target tracking and statistical signal processing. Background technique [0002] Joint Probabilistic Data Association (JPDA) algorithm is a classic method for multi-target tracking in false alarm and clutter environment. However, when the target airspace is dense, the target tracking results of the JPDA algorithm often have the phenomenon of track merging, that is to say, there is a deviation in the target state estimation. [0003] To solve this problem, the Exact Nearest Neighbor Joint Probabilistic Data Association (ENNJPDA) algorithm, the Scaled Joint Probabilistic Data Association (SJPDA) algorithm and the JPDA* algorithm are proposed. Essentially, these methods use the logic of hypothesis cutting or hypothesis probability scale scaling to "harden" the soft association decision of the JPDA algorithm, so t...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S13/72G01S7/41
Inventor 井沛良吴玉生郭荣化撒彦成赵金红赵鹏姬强马子龙江山宋平
Owner 中国人民解放军63870部队
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