Systems Engineering and Electronics ›› 2018, Vol. 40 ›› Issue (3): 526-532.doi: 10.3969/j.issn.1001-506X.2018.03.06

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Multiple extended target tracking algorithm based on labeled random finite set filter

CAO Zhuo1, FENG Xinxi1, PU Lei1, WANG Xue1, ZHANG Linlin2   

  1. 1. Information and Navigation Institute, Air Force Engineering University, Xi’an 710077, China; 2. The Ministry of Basic Computer Application Teaching and Research Office, Airforce Dalian Communications Noncommissioned Officers School, Dalian 116600, China
  • Online:2018-02-26 Published:2018-02-24

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Abstract:

A multiple extended target tracking algorithm based on labeled random finite set (RFS) filter is proposed to solve the problem that the existing algorithm based on the RFSs cannot output the target kinematic track. The proposed algorithm adopts the random hypersurface to model the extended target as star-convex extension, and then puts the elements in the sets labeled. Combining with the delay logic theory of multiple hypothesis tracking, we adopt the backtracking strategy to smooth multiframe measurements. Experimental results show that the proposed algorithm is able to output complete track and effectively estimate the kinematic state and target extension when tracking the target, especially in the low signal-to-noise ratio scenario, the tracking accuracy of the proposed algorithm is better than that of the traditional extended target filter based on the RFS theory, so that the stability and effectiveness of the filter can be improved.

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