A group tracking algorithm for split maneuvering based on complex domain topological descriptions is proposed for the tracking of members in a maneuvering group. According to the split characteristics of a group targe...A group tracking algorithm for split maneuvering based on complex domain topological descriptions is proposed for the tracking of members in a maneuvering group. According to the split characteristics of a group target, split models of group targets are established based on a sliding window feedback mechanism to determine the occurrence and classification of split maneuvering, which makes the tracked objects focus by group members effectively. The track of an outlier single target is reconstructed by the sequential least square method. At the same time, the relationship between the group members is expressed by the complex domain topological description method, which solves the problem of point-track association between the members. The Singer method is then used to update the tracks. Compared with classical multi-target tracking algorithms based on Multiple Hypothesis Tracking （MHT） and the Different Structure Joint Probabilistic Data Association （DS-JPDA） algorithm, the proposed algorithm has better tracking accuracy and stability, is robust against environmental clutter and has stable time-consumption under both classical radar conditions and partly resolvable conditions.展开更多
联合概率数据关联粒子滤波(joint probabilistic data association-particle filter,JPDA-PF)算法常被用来解决群目标跟踪中的数据关联和非线性滤波问题.针对算法的数据关联时间较长以及样本枯竭问题,本文阐述了一种利用模糊聚类和拟蒙...联合概率数据关联粒子滤波(joint probabilistic data association-particle filter,JPDA-PF)算法常被用来解决群目标跟踪中的数据关联和非线性滤波问题.针对算法的数据关联时间较长以及样本枯竭问题,本文阐述了一种利用模糊聚类和拟蒙特卡罗重采样的群目标跟踪算法.首先,在群演化网络模型的基础上,采用最大熵模糊聚类法来完成群内个体目标和量测之间的数据关联,利用模糊隶属度来构建互联概率矩阵.其次,在目标状态样本的重采样的过程中,利用随机化拟蒙特卡罗序列映射到拟复制样本的子空间上,提高样本的多样性,抑制样本枯竭的出现.仿真实验结果表明,与JPDA-PF算法相比,本文算法能有效估计群内目标状态和群结构,并具有更优的估计性能.展开更多
提出一种基于粒子概率假设密度滤波器(Sequential Monte Carlo probability hypothesis density filter,SMC-PHDF)的部分可分辨的群目标跟踪算法.该算法可直接获得群而非个体的个数和状态估计.这里群的状态包括群的质心状态和形状.为了...提出一种基于粒子概率假设密度滤波器(Sequential Monte Carlo probability hypothesis density filter,SMC-PHDF)的部分可分辨的群目标跟踪算法.该算法可直接获得群而非个体的个数和状态估计.这里群的状态包括群的质心状态和形状.为了估计群的个数和状态,该算法利用高斯混合模型(Gaussian mixture models,GMM)拟合SMC-PHDF中经重采样后的粒子分布,这里混合模型的元素个数和参数分别对应于群的个数和状态.期望最大化(Expectation maximum,EM)算法和马尔科夫链蒙特卡洛(Markov chain Monte Carlo,MCMC)算法分别被用于估计混合模型的参数.混合模型的元素个数可通过删除、合并及分裂算法得到.100次蒙特卡洛(Monte Carlo,MC)仿真实验表明该算法可有效跟踪部分可分辨的群目标.相比EM算法,MCMC算法能够更好地提取群的个数和状态,但它的计算量要大于EM算法.展开更多
基金co-supported by the National Natural Science Foundation of China(Nos.61471383,61531020,61471379 and 61102166)
文摘A group tracking algorithm for split maneuvering based on complex domain topological descriptions is proposed for the tracking of members in a maneuvering group. According to the split characteristics of a group target, split models of group targets are established based on a sliding window feedback mechanism to determine the occurrence and classification of split maneuvering, which makes the tracked objects focus by group members effectively. The track of an outlier single target is reconstructed by the sequential least square method. At the same time, the relationship between the group members is expressed by the complex domain topological description method, which solves the problem of point-track association between the members. The Singer method is then used to update the tracks. Compared with classical multi-target tracking algorithms based on Multiple Hypothesis Tracking （MHT） and the Different Structure Joint Probabilistic Data Association （DS-JPDA） algorithm, the proposed algorithm has better tracking accuracy and stability, is robust against environmental clutter and has stable time-consumption under both classical radar conditions and partly resolvable conditions.
文摘联合概率数据关联粒子滤波(joint probabilistic data association-particle filter,JPDA-PF)算法常被用来解决群目标跟踪中的数据关联和非线性滤波问题.针对算法的数据关联时间较长以及样本枯竭问题,本文阐述了一种利用模糊聚类和拟蒙特卡罗重采样的群目标跟踪算法.首先,在群演化网络模型的基础上,采用最大熵模糊聚类法来完成群内个体目标和量测之间的数据关联,利用模糊隶属度来构建互联概率矩阵.其次,在目标状态样本的重采样的过程中,利用随机化拟蒙特卡罗序列映射到拟复制样本的子空间上,提高样本的多样性,抑制样本枯竭的出现.仿真实验结果表明,与JPDA-PF算法相比,本文算法能有效估计群内目标状态和群结构,并具有更优的估计性能.
文摘提出一种基于粒子概率假设密度滤波器(Sequential Monte Carlo probability hypothesis density filter,SMC-PHDF)的部分可分辨的群目标跟踪算法.该算法可直接获得群而非个体的个数和状态估计.这里群的状态包括群的质心状态和形状.为了估计群的个数和状态,该算法利用高斯混合模型(Gaussian mixture models,GMM)拟合SMC-PHDF中经重采样后的粒子分布,这里混合模型的元素个数和参数分别对应于群的个数和状态.期望最大化(Expectation maximum,EM)算法和马尔科夫链蒙特卡洛(Markov chain Monte Carlo,MCMC)算法分别被用于估计混合模型的参数.混合模型的元素个数可通过删除、合并及分裂算法得到.100次蒙特卡洛(Monte Carlo,MC)仿真实验表明该算法可有效跟踪部分可分辨的群目标.相比EM算法,MCMC算法能够更好地提取群的个数和状态,但它的计算量要大于EM算法.
