Expansion target tracking method based on GLMB filtering and Gibbs sampling

Abstract

The invention discloses an expansion target tracking method based on GLMB (Generalized labelled multi-bernoulli) filtering and Gibbs sampling. The expansion target tracking method based on GLMB filtering and Gibbs sampling estimates the target number and the shape of the expansion target, provides a multiple expansion target tracking method under a labelled random finite sets (L-RFS) framework, and mainly includes two aspects: dynamic modeling of multiple expansion targets and tracking estimation of multiple expansion targets. The expansion target tracking method based on GLMB filtering and Gibbs sampling includes the steps: combined with a generalized label multi-bernoulli filter, establishing a measurement limit hybrid model of the expansion targets, by means of Gibbs sampling and Bayesian information criterion, deriving the parameters of the limit hybrid model to learn tracking of the state of the multiple expansion targets, using an equivalent measurement method to replace measurement generated from the expansion targets, and performing ellipse approximating modeling on the shape of the expansion targets to realize estimation of the shape of the expansion targets. The simulation experiment shows that the expansion target tracking method based on GLMB filtering and Gibbs sampling can effectively track the multiple expansion targets, can accurately estimate the state and theshape of the expansion targets, and can obtain the track of the targets.

Description

technical field [0001] The invention belongs to the field of multi-extended target tracking. Aiming at the state estimation of multi-extended targets under clutter conditions, the estimation of the number of targets, and the estimation of the shape of extended targets, a label based random finite set (Labelled random finite sets, L-RFS) is proposed. Multi-extension object tracking method under the framework. Background technique [0002] Traditional target tracking algorithms generally assume that the tracked target is a point target, that is, one target produces at most one measurement, but with the continuous development of modern sensor technology, the increasing resolution of radar enables us to obtain multiple measurements from a single target. A measurement, that is, a target produces more than one measurement point in a sampling period, this type of target is called an extended target. Extended target tracking can provide us with precise movement information and shap...

AI Technical Summary

Problems solved by technology

Because the traditional tracking algorithm no longer satisfies the point target assumption, the traditional point target model is no longer applicable

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