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Multi-sensor multi-target association tracking method

A multi-sensor, multi-target technology, applied in the field of multi-sensor multi-target correlation tracking, can solve the complex problems of multi-sensor multi-target correlation tracking, achieve effective tracking and increase reliability

Active Publication Date: 2021-07-09
JILIN UNIV
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  • Abstract
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  • Claims
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Problems solved by technology

[0002] The associated tracking problem of multi-sensor and multi-target is a very complex problem

Method used

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  • Multi-sensor multi-target association tracking method
  • Multi-sensor multi-target association tracking method

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Embodiment Construction

[0048] Principle: At present, there are many multi-sensor multi-target correlation tracking algorithms. Most of the algorithms only use the position measurement information of the sensor to the target, ignoring other target information provided by the sensor. In order to improve the target correlation and tracking effect as much as possible, If other measured values ​​of the target provided by the sensor, such as direction angle, relative speed, etc., can be taken into account in the process of target association, it will inevitably increase the reliability of the target association result.

[0049] Describe technical scheme of the present invention in detail below in conjunction with accompanying drawing:

[0050] The present invention provides a multi-sensor multi-target associated tracking method, which specifically includes the following steps:

[0051] Step 1. Multimodal measurement information selection:

[0052] First of all, in order to facilitate target association, ...

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Abstract

The invention belongs to the technical field of target association tracking, and particularly relates to a multi-sensor multi-target association tracking method. According to the method, multi-modal target-level measurement information provided by multiple sensors is used as an input item of an algorithm, and the target-level measurement information of the multiple sensors is interconnected and matched with a tracked target at the last moment, so that the target is tracked; herein, fuzziness between a target state value and a measurement value is fully considered, and according to the fuzziness, a fuzzy comprehensive evaluation theory is adopted to carry out data-level association and tracking on a target from target state data and measurement data levels, and multi-modal measurement information provided by a sensor is considered in the target association process. Therefore, the reliability of target association is improved, so that multiple targets can be associated and tracked well.

Description

technical field [0001] The invention belongs to the technical field of target correlation tracking, and in particular relates to a multi-sensor multi-target correlation tracking method. Background technique [0002] Multi-sensor and multi-target association tracking is a very complicated problem. The sensor is used to detect the environment comprehensively, because the target information measured by the sensor in the environment is not the real state value of the target, but the measured value of the target polluted by noise. Secondly, the measurement information provided by the sensor includes clutter information, that is, the measurement information of obstacles such as trees in the environment, that is, whether the measurement information provided by the sensor comes from the target or the obstacle in the environment and from the obstacles in the environment. Which target or obstacle has a certain degree of ambiguity and uncertainty, so when using sensors to track multip...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06K9/62G01B21/02G01B21/22
CPCG01B21/02G01B21/22G06F18/25
Inventor 宋佳曲婷于树友蔡坤阳
Owner JILIN UNIV
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