基于单站无源运动定位的多目标跟踪方法

doi:10.12305/j.issn.1001-506X.2025.08.13

Abstract

Abstract:

To address the multi-target localization problem in single observer passive motion localization, a multi-target single observer passive motion localization method is proposed based on the Gaussian mixture multi-target filter （GM-MTF） of the random finite set （RFS）. Firstly, based on the single observer passive motion location method, the localization problem is equivalent to a target tracking problem, and the nonlinear measurement model of multi-target tracking in the passive location system is constructed. Then, based on the GM-MTF, a Gaussian mixture implementation process fused with the cubature Kalman filter is provided to adapt to the measurement nonlinearity model, and the complete implementation process is given. On this basis, combined with the phase difference change rate positioning method, a single observer passive multi-target positioning method with secondary filtering is proposed. The proposed method integrates single observer passive motion localization and RFS multi-target filters, thereby further expanding the single target localization scene to complex multi-target scenes. Meanwhile, simulation results show that compared with traditional phase difference rate of change positioning methods, the proposed method not only has significant advantages in positioning accuracy, but also has certain anti-interference ability and robustness in complex clutter environments.

Key words: single observer passive motion location, multi-target tracking, Gaussian mixture, finite set statistics, cubature Kalman filtering （CKF）

CLC Number:

TP 274

Xiaomeng MA, Dongming DENG, Yongjian SHEN, Jinshan DING, Guoqing HAO. Multi-target tracking method based on single observer passive motion location[J]. Systems Engineering and Electronics, 2025, 47(8): 2549-2557.

Figures/Tables 13

Table 1

Fig.1

Fig.2

Fig.3

Table 2

Fig.4

Fig.5

Fig.6

Fig.7

Fig.8

Fig.9

Fig.10

Fig.11

References 35

1	田中成, 刘聪锋. 无源定位技术[M]. 北京: 国防工业出版社, 2015: 374−379.
	TIAN Z C, LIU C F. Passive location technology[M]. Beijing: National Defense Industry Press, 2015: 374−379.
2	GHOLAMI M R, GEZICI S, STROM E G. A concave-convex procedure for TDOA based positioning[J]. IEEE Communications Letters, 2013, 17 (4): 765- 768. doi: 10.1109/LCOMM.2013.020513.122732
3	LI W C, WEI P, XIAO X C. A robust TDOA-based location method and its performance analysis[J]. Science in China Series F: Information Sciences, 2009, 52 (5): 876- 882. doi: 10.1007/s11432-009-0101-1
4	WU G Z, GUO F C, ZHANG M. Direct position determination: an overview[J]. Journal of Radars, 2020, 9 (6): 998- 1013.
5	孙仲康, 郭福成, 冯道旺. 单站无源定位跟踪技术[M]. 北京: 国防工业出版社, 2008: 5−6.
	SUN Z K, GUO F C, FENG D W. Passive location and tracking technology by single observer[M]. Beijing: National Defense Industry Press, 2008: 5−6.
6	CHEN Y T, TOWERS J J. Sequential localization of a radiating source by Dopple-shifted frequency measurements[J]. IEEE Trans. on Aerospace and Electronic Systems, 1992, 28 (4): 1084- 1089. doi: 10.1109/7.165370
7	HUANG H, ZHE0NG Y R. Node location with AOA assistance in multi-hop underwater sensor networks[J]. Ad Hoc Networks, 2018, 78, 32- 41. doi: 10.1016/j.adhoc.2018.05.005
8	ZHENG Q, CHEN J Q, YANG R J. Research on technology based on orthogonal multi-station angle measurement method[J]. Infrared Physics & Technology, 2017, 86, 202- 206.
9	许耀伟, 孙仲康. 利用相位差变化率对固定辐射源的无源被动定位[J]. 系统工程与电子技术, 1999, 21 (3): 34- 37.
	XU Y W, SUN Z K. Passive location of fixed emitter using phase rate of change[J]. Systems Engineering and Electronics, 1999, 21 (3): 34- 37.
10	周丹丹. 基于相位差变化率的单星无源定位方法研究[D]. 西安: 西安电子科技大学, 2023.
	ZHOU D D. Research on single star passive location method based on phase difference change rate[D]. Xi’an: Xidian University, 2023.
11	相飞华. 固定单站对机载辐射源目标高精度定位算法研究[D]. 长沙: 国防科技大学, 2022.
	XIANG F H. Research on high precision location algorithm for airborne emitter target with fixed single observer[D]. Changsha: National University of Defense Technology, 2022.
12	招乾民. 单星无源定位跟踪技术研究[D]. 成都: 电子科技大学, 2024.
	ZHAO Q M. Research on single satellite passive localization and tracking technology[D]. Chengdu: University of Electronic Science and Technology of China, 2024.
13	李永生, 董光焰, 陈凯, 等. 基于卡尔曼滤波的无源定位精度分析[J]. 弹箭与制导学报, 2022, 42 (4): 44- 46.
	LI J S, DONG G Y, CHEN K, et al. Accuracy analysis of passive location based on Kalman filter[J]. Journal of Projectiles, Rockets, Missiles and Guidance, 2022, 42 (4): 44- 46.
14	XU J, HE M, YU C L, et al. A new method of fixed single observer passive location based on phase difference rate-of-change[C]//Proc. of the 3rd International Conference on Measuring Technology and Mechatronics Automation, 2011: 174−177.
15	ANDERSON B D O, MOORE J B, ESLAMI M. Optimal filtering[J]. IEEE Trans. on Systems Man & Cybernetics, 2007, 12(2): 235−236.
16	JULIER S, UHLMANN J, DURRANT- WHYTE H F. A new method for the nonlinear transformation of means and covariances in filters and estimators[J]. IEEE Trans. on Automatic Control, 2000, 45 (3): 477- 482. doi: 10.1109/9.847726
17	ARASARATNAM I, HAYKIN S. Cubature Kalman filters[J]. IEEE Trans. on Automatic Control, 2009, 54 (6): 1254- 1269. doi: 10.1109/TAC.2009.2019800
18	QIU Z B, GUO L. Improved cubature Kalman filter for spacecraft attitude estimation[J]. IEEE Trans. on Instrumentation and Measurement, 2021, 70, 9504213.
19	单月晖, 赵巨波, 孙仲康. MGEKF算法在无源定位中的应用[J]. 航天电子对抗, 2003, (1): 10- 13.
	SHAN Y H, ZHAO J B, SUN Z K. Application of MGEKF algorithm in passive location[J]. Aerospace Electronic Warfare, 2003, (1): 10- 13.
20	郭福成, 李宗华, 孙仲康. 无源定位跟踪中修正协方差扩展卡尔曼滤波算法[J]. 电子与信息学报, 2004, 26 (6): 917- 922.
	GUO F C, LI Z H, SUN Z K. The modified covariance extended Kalman filtering passive location and tracking[J]. Journal of Electronics & Information Technology, 2004, 26 (6): 917- 922.
21	MAHLER R P S. Statistical multi-source multi-target information fusion[M]. Norwood: Artech House, 2007.
22	MAHLER R P S. Advances in statistical multi-source multi-target information fusion[M]. Norwood: Artech House, 2014.
23	MAHLER R P S. Multitarget Bayes filtering via first-order multitarget moments[J]. IEEE Trans. on Aerospace and Electronic Systems, 2003, 39 (4): 1152- 1178. doi: 10.1109/TAES.2003.1261119
24	MAHLER R P S. PHD filters of higher order in target number[J]. IEEE Trans. on Aerospace and Electronic Systems, 2007, 43 (4): 1523- 1543. doi: 10.1109/TAES.2007.4441756
25	VO B N, MA W K. The Gaussian mixture probability hypothesis density filter[J]. IEEE Trans. on Signal Processing, 2006, 54 (11): 4091- 4104. doi: 10.1109/TSP.2006.881190
26	VO B N, SINGH S, DOUCET A. Sequential Monte Carlo methods for multitarget filtering with random finite sets[J]. IEEE Trans. on Aerospace and Electronic Systems, 2005, 41 (4): 1224- 1245. doi: 10.1109/TAES.2005.1561884
27	VO B N, VO B T, HOANG H G. An efficient implementation of the generalized labeled multi-Bernoulli filter[J]. IEEE Trans. on Signal Processing, 2017, 65 (8): 1975- 1987. doi: 10.1109/TSP.2016.2641392
28	VO B T, VO B N, CANTONIA. The cardinality balanced multi-target multi-Bernoulli filter and its implementations[J]. IEEE Trans. on Signal Processing, 2009, 57 (2): 409- 423. doi: 10.1109/TSP.2008.2007924
29	VO B N, VO B T, PHUNG D. Labeled random finite sets and the Bayes multi-target tracking filter[J]. IEEE Trans. on Signal Processing, 2014, 62 (24): 6554- 6567. doi: 10.1109/TSP.2014.2364014
30	YI W, JIANG M, HOSEINNEZHAD R. The multiple model Vo-Vo filter[J]. IEEE Trans. on Aerospace and Electronic Systems, 2017, 53 (2): 1045- 1054. doi: 10.1109/TAES.2017.2667300
31	LI S Q, YI W, HOSEINNEZHAD R. Multi-object tracking for generic observation model using labeled random finite sets[J]. IEEE Trans. on Signal Processing, 2018, 66 (2): 1045- 1054.
32	CHEN Y, SHENG X L, GUO L X, et al. Asynchronous multisonar data integration approach used to detect sparse targets[J]. IEEE Acess, 2019, 7, 37908- 37917. doi: 10.1109/ACCESS.2019.2906327
33	杨威, 付耀文, 龙建乾, 等. 基于有限集统计学理论的目标跟踪技术研究综述[J]. 电子学报, 2012, 40 (7): 1440- 1448.
	YANG W, FU Y W, LONG J Q, et al. The FISST-based target tracking techniques: a survey[J]. Acta Electronica Sinica, 2012, 40 (7): 1440- 1448.
34	SCHUHMACHER D, VO B T, VO B N. A consistent metric for performance evaluation of multi-object filters[J]. IEEE Trans. on Signal Processing, 2008, 56 (8): 3447- 3457. doi: 10.1109/TSP.2008.920469
35	LI X R, JILKOV V P. Survey of maneuvering target tracking. Part I: dynamic models[J]. IEEE Trans. on Aerospace and Electronic Systems, 2004, 39 (4): 1333- 1364.

定位方法	定位精度	定位速度	航迹要求	目标定位	实现难度
测向交叉法	较慢	高	低	好	容易
多普勒频率法	快	较快	低	一般	较难
到达时间法	较慢	较快	高	一般	容易
多普勒频率变化率法	快	高	高	一般	一般
相位差变化率定位法	快	较高	低	一般	容易

目标	新生时刻/s	消亡时刻/s	初始位置/m	速度/（m/s）
目标1	1	60	[900,800]	[−4.3,4]
目标2	1	60	[800,900]	[−4.3,4]
目标3	1	60	[500,450]	[−4.3,4]

[1]	Hongyuan ZHANG, Baichun GONG, Fei HAN, Yue SUN, Xin NING. Space-based passive cooperative multi-target initial orbit determination method in complex environments [J]. Systems Engineering and Electronics, 2025, 47(5): 1404-1413.
[2]	Zekun GUO, Hongfei YANG, Zheng LIU, Rong XIE, Lei RAN, Jia'nan LI. Narrow-band radar airborne target recognition method based on MGMD space [J]. Systems Engineering and Electronics, 2025, 47(4): 1136-1145.
[3]	Jingyuan SHAN, Yu LU, Hanyu LING. Robust adaptive multi-target tracking algorithm for airborne passive bistatic radar [J]. Systems Engineering and Electronics, 2024, 46(9): 2902-2915.
[4]	Linhai JIANG, Baichun GONG, Chuankai LIU, Yang YANG, Renyong ZHANG. Space multi-target tracking method for space-based distributedpassive detection [J]. Systems Engineering and Electronics, 2024, 46(8): 2789-2797.
[5]	Siyi YAO, Wanchun LI, Lin GAO, Huaguo ZHANG, Hangwei HU. Multi-sensor multi-target tracking based on distributed PMHT [J]. Systems Engineering and Electronics, 2024, 46(7): 2184-2190.
[6]	Yaling ZHUO, Xiang LI, Lei ZUO, Juan HU. Power allocation algorithm with random data packet loss in netted radar [J]. Systems Engineering and Electronics, 2024, 46(6): 1957-1966.
[7]	Meibin QI, Shuo ZHUANG, Jingjing HU, Yanfang YANG, Yuankui HU. Resolvable group target tracking based on joint GLMB filter [J]. Systems Engineering and Electronics, 2024, 46(4): 1212-1219.
[8]	Shuya ZENG, Bin RAO. Ballistic target association method based on dynamic conservation law [J]. Systems Engineering and Electronics, 2024, 46(2): 684-691.
[9]	Wenhao BI, Jie ZHOU, An ZHANG, Li LIU. JPDA algorithm based on maximum entropy fuzzy clustering in clutter environment [J]. Systems Engineering and Electronics, 2023, 45(7): 1920-1927.
[10]	Zhengwei LIU, Ying CHEN, Yaobing LU. PHD filter for small-angle crossing of multi-target trajectories [J]. Systems Engineering and Electronics, 2023, 45(4): 982-990.
[11]	Ziran LIU, Zijian DAI, Chengfei YUE, Peiji WANG, Xibin CAO. Gaussian-mixture-process-based task-space predictive control method for space robot [J]. Systems Engineering and Electronics, 2023, 45(11): 3597-3605.
[12]	Lei AN, Zhaorui LI, Bing JI. Non-myopic scheduling method for mobile active/passive sensor in clutter environment [J]. Systems Engineering and Electronics, 2023, 45(1): 165-174.
[13]	Lei WANG, Zhiyong ZHANG, Weigui ZENG, Silei CAO, Tianhe ZHANG. An improved GMM clustering based on data field and decision graph [J]. Systems Engineering and Electronics, 2022, 44(9): 2743-2751.
[14]	Zilin HOU, Ting CHENG, Han PENG. GMPHD based on measurement conversion sequential filtering for maneuvering target tracking [J]. Systems Engineering and Electronics, 2022, 44(8): 2474-2482.
[15]	Zizhuang SONG, Jiawei YANG, Dongfang ZHANG, Shiqiang WANG, Shuo ZHANG. Real-time infrared multi-class multi-target anchor-free tracking network [J]. Systems Engineering and Electronics, 2022, 44(2): 401-409.

Multi-target tracking method based on single observer passive motion location

RichHTML

PDF (PC)

Knowledge

Abstract

Cite this article

share this article

Figures/Tables 13

References 35

Related Articles 15

Recommended Articles

Metrics

Comments