战术机动先验辅助的交互多模型目标跟踪方法

doi:10.12305/j.issn.1001-506X.2025.07.02

摘要/Abstract

摘要：

针对交互式多模型滤波算法应对强机动目标跟踪过程存在响应滞后、精度偏低的问题, 提出由空中目标战术机动先验辅助的层次性交互多模型跟踪方法。所提方法利用隐马尔可夫模型, 对目标机动轨迹分段进行战术类别的识别、战术状态的区分, 建模不同战术下的机动模型转移矩阵。由此实现战术机动似然概率与交互多模型机动似然概率的有效交互, 构建双层交互式多模型跟踪算法。实验考虑复杂战术意图下空中目标机动轨迹, 结果表明所提算法结合战术机动先验可有效解决状态估计精度与机动转移响应时效之间的矛盾, 明显改善机动目标跟踪精度。

关键词: 交互式多模型, 马尔可夫转移概率, 机动目标跟踪, 先验信息

Abstract:

To address the issue of response lag and low accuracy in tracking highly maneuvering targets with the interactive multiple model (IMM) filter algorithm, a hierarchical IMM tracking method assisted by tactical maneuver priors of aerial targets is proposed. The proposed method employs a hidden Markov model (HMM) to segment and classify the tactical categories of target maneuver trajectories and to distinguish between tactical states, and models the transfer matrix of maneuver models with different tactics. This enables the effective interaction of tactical likelihood and the IMM maneuvering models' likelihood, resulting in the development of a double-layered IMM (DIMM) tracking algorithm. The experiments consider the air target maneuvering trajectories with complex tactical intentions, and result shows that the proposed algorithm combined with the tactical maneuver priori effectively solves the contradiction between state estimation accuracy and maneuver transition response time, and significantly improves the maneuvering target tracking accuracy.

Key words: interactive multiple model (IMM), Markov transition probability, maneuvering target tracking, prior information

中图分类号:

TN959.6

孙一心, 方愚渊, 张磊. 战术机动先验辅助的交互多模型目标跟踪方法[J]. 系统工程与电子技术, 2025, 47(7): 2086-2097.

Yixin SUN, Yuyuan FANG, Lei ZHANG. Tactical maneuver priori assisted interactive multiple model target tracking method[J]. Systems Engineering and Electronics, 2025, 47(7): 2086-2097.

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跟踪方法	简称
标准IMM	IMM
仅考虑战术类别的IMM	C-IMM
考虑战术类别与战术状态的IMM	C-S-IMM

模型	位置RMSE均值/m	位置RMSE峰值/m	速度RMSE均值/(m/s)	速度RMSE峰值/(m/s)
IMM	61.786	146.702	22.750	80.451
C-IMM	59.902	110.633	21.887	62.171
C-S-IMM	53.824	55.403	17.620	18.687

跟踪方法	简称
考虑战术类别的DIMM	C-DIMM
考虑战术类别与战术状态的DIMM	C-S-DIMM

模型	第2次位置RMSE峰值/m	第2次速度RMSE峰值/(m/s)
IMM	158.420	73.554
C-IMM	118.111	53.485
C-S-IMM	114.683	28.585
C-DIMM	122.386	30.571
C-S-DIMM	83.676	26.441

模型	第3次位置RMSE峰值/m	第3次速度RMSE峰值/(m/s)
IMM	148.183	62.833
C-IMM	152.540	61.109
C-S-IMM	152.540	61.109
C-DIMM	122.386	50.404
C-S-DIMM	122.386	50.403