基于证据推理的航迹关联检验判决方法

doi:10.12305/j.issn.1001-506X.2025.09.05

摘要/Abstract

摘要：

针对分布式多目标跟踪系统的最大关联方法没有充分利用航迹关联的全局信息，在不确定性较大的情况下存在失效风险问题，基于证据推理的思想提出基于证据推理的航迹关联检验判决方法，用于处理不确定性较大的航迹关联判决问题。利用该方法对模糊综合决策航迹关联算法和灰色航迹关联算法进行改进，并在编队目标环境下对改进前后算法进行对比仿真，分析改进算法的收敛性和有效性。同时，对算法复杂度进行仿真分析，改进算法在保持O(n²)复杂度的情况下，关联效果逼近O(n³)复杂度的算法。仿真结果表明，改进算法体现了较好的效费比，具备在大量集群目标航迹关联问题中应用的潜力，且随着复杂度增加，改进效果更显著。

关键词: 航迹关联, 证据理论, 灰色理论, 模糊理论, 编队目标

Abstract:

The maximum correlation method for distributed multi-target tracking systems does not fully utilize the global information of trajectory correlation, and there is a risk of failure in situations with high uncertainty. Based on evidential reasoning, the paper propose an evidential reasoning-based for track association verification decision method based on theory of evidence to handle track association decision problems with significant uncertainty. This method is utilized to improve both the fuzzy comprehensive decision-making track association algorithm and grey track association algorithm. The improved algorithms are compared in a simulated formation target environment, and their convergence and effectiveness are analyzed. The simulation analysis of algorithm complexity, the improved algorithm maintains a time complexity of O(n²), approaching the performance of algorithms with O(n³) complexity. The simulation results reveal that the improved algorithm showcasing excellent cost-effectiveness and potential for application in large-scale cluster target track association problems, and with the increasing complexity, the enhancement effect becomes more pronounced.

Key words: track association, theory of evidence, grey theory, fuzzy theory, formation targets

中图分类号:

TN 953

于昊天, 关欣. 基于证据推理的航迹关联检验判决方法[J]. 系统工程与电子技术, 2025, 47(9): 2818-2827.

Haotian YU, Xin GUAN. Evidential reasoning-based decision method for track association verification[J]. Systems Engineering and Electronics, 2025, 47(9): 2818-2827.

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分类		原始算法简称	改进算法简称
灰色关联	最大关联方法	GM	DSGM
灰色关联	二维分配方法	GA	DSGA
模糊决策	最大关联方法	FM	DSFM
模糊决策	二维分配方法	FA	DSFA

距离/m	场景1		场景2		场景3
距离/m	$\Delta P_{{\text{DSGM}}}^{{\text{GM}}}$	$\Delta P_{{\text{DSFM}}}^{{\text{FM}}}$	$\Delta P_{{\text{DSGM}}}^{{\text{GM}}}$	$\Delta P_{{\text{DSFM}}}^{{\text{FM}}}$	$\Delta P_{{\text{DSGM}}}^{{\text{GM}}}$	$\Delta P_{{\text{DSFM}}}^{{\text{FM}}}$
300	0.18	6.09	−2.95	5.32	−0.32	13.08
600	2.25	10.63	−1.40	13.53	0.12	22.90
900	3.94	10.10	1.41	18.17	2.10	32.75
1 200	3.72	7.19	1.87	23.36	1.07	38.41
1 500	5.49	3.70	1.29	26.89	1.99	43.38
1 800	5.42	1.92	1.27	27.81	2.43	46.85
2 100	3.69	−0.65	2.47	26.98	3.35	48.65
2 400	2.47	−1.12	1.61	21.89	4.44	45.17
2 700	3.65	−0.85	2.75	15.68	4.40	41.70
3 000	3.05	−0.94	1.24	10.52	4.32	37.74
3 300	2.21	−0.65	2.10	8.03	3.94	31.89
3 600	2.45	−0.45	0.60	4.69	3.92	25.94
3 900	1.94	−0.39	0.76	3.03	3.20	21.17
平均值	3.11	2.66	1.00	15.84	2.69	34.59

距离/m	场景1				场景2				场景3
距离/m	$\rho _{{\mathrm{GA}}}^{{\mathrm{GM}}}$	$\rho _{{\mathrm{GA}}}^{{\mathrm{DSGM}}}$	$\rho _{{\mathrm{GA}}}^{{\mathrm{FM}}}$	$\rho _{{\mathrm{GA}}}^{{\mathrm{DSFM}}}$	$\rho _{{\mathrm{GA}}}^{{\mathrm{GM}}}$	$\rho _{{\mathrm{GA}}}^{{\mathrm{DSGM}}}$	$\rho _{{\mathrm{GA}}}^{{\mathrm{FM}}}$	$\rho _{{\mathrm{GA}}}^{{\mathrm{DSFM}}}$	$\rho _{{\mathrm{GA}}}^{{\mathrm{GM}}}$	$\rho _{{\mathrm{GA}}}^{{\mathrm{DSGM}}}$	$\rho _{{\mathrm{GA}}}^{{\mathrm{FM}}}$	$\rho _{{\mathrm{GA}}}^{{\mathrm{DSFM}}}$
300	95.76	96.34	77.91	97.05	101.38	91.46	66.18	85.20	95.71	94.52	48.21	98.99
600	92.42	97.28	79.97	102.57	99.20	95.93	62.24	95.22	95.23	95.56	39.50	102.22
900	92.47	99.39	89.21	106.53	93.94	96.59	64.12	97.85	94.04	98.66	34.62	106.52
1 200	91.04	96.74	97.16	107.79	91.90	94.93	64.93	101.50	97.32	99.44	33.13	104.82
1 500	91.24	98.98	101.91	106.74	93.98	95.92	66.76	103.86	94.59	98.07	33.27	103.21
1 800	90.62	97.62	101.22	103.49	93.26	95.03	67.86	102.05	93.71	97.66	34.30	100.98
2 100	92.02	96.58	104.87	104.13	93.43	96.63	71.13	101.88	93.50	98.66	37.60	101.54
2 400	93.44	96.39	103.25	102.04	93.83	95.85	76.86	100.83	91.85	98.26	43.38	99.47
2 700	92.71	96.98	102.75	101.85	92.54	95.81	84.13	100.78	92.28	98.42	50.14	99.40
3 000	93.64	97.11	102.05	101.08	93.41	94.85	88.59	99.41	91.82	97.65	56.35	99.26
3 300	94.46	96.95	101.33	100.66	94.81	97.22	91.55	99.73	91.82	97.00	62.75	98.03
3 600	95.13	97.86	101.12	100.66	94.80	95.47	94.93	99.68	92.40	97.41	69.84	97.85
3 900	94.76	96.89	100.35	99.96	95.81	96.65	96.60	99.66	92.87	96.89	75.34	97.68
平均值	93.05	97.32	97.16	102.66	94.79	95.56	76.61	99.05	93.63	97.55	47.57	100.77

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