Abstract:

A multiple target tracking algorithm in clutter is studied, and a new method is adopted to solve the data association problem based on distance, speed and course. Firstly, the position element of the state update estimates is used as the center to conduct the distance statistical test, which is used to select the measurements of the targets. Then the selected data are needed to make further judgement through speed and course. The steps are as follow: The current measurements and the state update estimate a moment ago are used to estimate the speed and course of the target, which are compared with the speed and course threshold respectively. And those measurements which fall in to the two thresholds are preserved. The probabilities of the retained data are calculated, and which are used as weights to obtain the weighted fusion state. The simulation results reveal the feasibility and validity of the proposed algorithm.