Distributed Field of View Complementary Multi-Bernoulli Correlation Arithmetic Mean Fusion Tracking Method

Abstract

The invention discloses a distributed field-of-view complementary multi-Bernoulli correlation arithmetic mean fusion tracking method. First, the sensor's sensing range is expanded by complementing each sensor's field of view, so that the measurement of each sensor covers the entire tracking scene; Secondly, each sensor runs local multi-Bernoulli filtering separately, and associates Bernoulli components corresponding to the same target to the same subset by flooding communication correlation with the filtering posterior results, and performs a The arithmetic mean fusion completes the fusion state estimation. The main feature of this method is that the measurement information between different sensors is complemented by the complementary field of view, and at the same time, it will not be shared repeatedly, which can effectively reduce the amount of calculation and improve the calculation efficiency; The Bernoulli components are linked together and then fused by arithmetic mean, which can effectively improve the tracking performance.

Description

technical field [0001] The invention relates to the technical field of distributed multi-sensor multi-target detection and tracking, in particular to a distributed field of view complementary multi-Bernoulli correlation arithmetic mean fusion tracking method. Background technique [0002] In the distributed sensor network with limited sensing range (LSR), a single sensor cannot detect all the targets in the whole tracking scene, but can only monitor the area within the local field of view. Therefore, in the limited perception network, different sensors will detect different targets in the whole scene at the same time, and the same target may be detected by multiple sensors at the same time, which greatly reduces the tracking performance. SUMMARY OF THE INVENTION [0003] The purpose of the present invention is to provide a distributed field of view complementary multi-Bernoulli correlation arithmetic mean fusion tracking method, which can effectively improve the tracking p...

AI Technical Summary

Problems solved by technology

[0002] In a distributed sensor network with limited sensing range (LSR), a single sensor cannot detect all targets in the entire tracking scene, but can only monitor the area within the local field of view.

Therefore, in a limited perception network, different sensors will detect different targets in the entire scene at the same time, and the same target may also be detected by multiple sensors at the same time, which greatly reduces the tracking performance.

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