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Extended target tracking method

A technology to expand goals and targets, applied in instruments, complex mathematical operations, measuring devices, etc., can solve problems such as inaccurate estimates and achieve the effect of reducing impact

Active Publication Date: 2021-07-30
ZHEJIANG UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, due to uncertainties in the motion model and observations, the prediction and estimation of the state may not belong to the road, thus resulting in inaccurate estimation

Method used

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Embodiment

[0182] The filters described in the present invention are evaluated in 2 simulated scenarios. Scenario 1 and Scenario 2 are respectively extended target tracking in Gaussian noise and non-Gaussian noise environments. Table 1 and Table 2 summarize the results in these 2 scenarios. The main parameters used.

[0183] Table 1 Gaussian noise environment settings

[0184]

[0185]

[0186] Table 2 Non-Gaussian noise environment settings

[0187]

[0188] That is, a vehicle with a length of 4.7m and a width of 1.8m runs on a curved road, and the vehicle travels from the starting point of the road to the end of the road, with a constant speed of 30m / s throughout the journey. The sensor located at (0,0) measures the range, azimuth, and range of the target at a frequency of 10 Hz, and each measurement has an independent error.

[0189] For comparison, the present invention runs DEKF and MC-DEKF algorithms, and corresponding EKF and MC-EKF algorithms on simulation generated da...

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Abstract

The invention provides an extended target tracking method. In many military and civil related fields, the target tracking technology is widely applied and plays a key role. The application scenarios stimulate the huge potential of the target tracking theory and also put forward higher requirements for the target tracking technology at the same time. According to the method, for a ground target which travels on a road network and is constrained by a road, the constraint is simulated by modeling the road and introducing a parameter vector related to the road; a tracking model is further perfected by using observation of a target range provided by a high-resolution sensor; a new Kalman filter is deduced based on the maximum correlation entropy criterion, and the two Kalman filters are used for estimating the state and parameters in the system respectively, so that the performance of the extended target tracking system in the non-Gaussian noise environment is improved.

Description

technical field [0001] The invention belongs to the field of signal processing and target tracking, and in particular relates to an extended target tracking method. Background technique [0002] In traditional tracking scenarios, the tracked object is usually modeled as a geometric point that does not occupy any spatial range, that is, it is assumed that when an object is perceived by the sensor, it only occupies at most one resolution unit of the sensor. Today this assumption is still reasonable in many applications, but it shows limitations in other scenarios. For example, in the process of automatic driving, in order to realize the intelligent dodging of obstacles and other road users, the actual space occupied by these objects must not be ignored. Tracking objects in such situations leads to a new requirement called extended object tracking (EOT). [0003] In extended object tracking, the shape of the object is usually unknown and may even change over time. With the c...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S13/72G06F17/11G06F17/15G06F17/16
CPCG01S13/723G06F17/11G06F17/15G06F17/16
Inventor 李春光陈紫燕
Owner ZHEJIANG UNIV
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