多模型广义标签多伯努利滤波器

doi:10.12305/j.issn.1001-506X.2022.12.03

Abstract

Abstract:

In standard generalized labeled multi-Bernoulli (GLMB), the target state transfer density is not discussed in detail. In maneuvering target tracking scenario, GLMB will not work properly when bringing into the case of determining the motion model. To solve this problem, the theory of merging multiple jump Markov chains in multi-model (MM) maneuvering target tracking algorithm is introduced. Three MM-GLMB filters, the interacting multiple model based GLMB (IMM-GLMB), the generalized pseudo Bayes1 based GLMB (GPB1-GLMB) and the generalized pseudo Bayes2 based GLMB (GPB2-GLMB) are presented in this paper. Three filters are compared with the jump Markov system based GLMB (JMS-GLMB) which is also designed to solve the multi-maneuvering targets tracking problem. Simulation results show that the proposed three filters have lower computational cost and higher tracking accuracy compared with JMS-GLMB. Among them, GPB1-GLMB has the lowest computational cost, GPB2-GLMB has the highest tracking accuracy, while IMM-GLMB has the best overall performance.

Key words: generalized labeled multi-Bernoulli (GLMB), multiple model (MM), generalized pseudo Bayes (GPB), jump Markov, target tracking

CLC Number:

TN95

Huaisheng XIN, Penghan SONG, Chen CAO. Multiple model based generalized labeled multi-Bernoulli filter[J]. Systems Engineering and Electronics, 2022, 44(12): 3603-3613.

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References 25

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目标	初始状态/(m, m/s, m, m/s)	出现时刻/s	消失时刻/s
1	[50 000, 200, 50 000, 0]	0	250
2	[40 000, 100, 52 200, -100]	0	300
3	[45 000, 200, 55 000, -50]	0	300
4	[70 000, 200, 40 000, 0]	80	300
5	[80 000, 200, 41 000, 0]	0	300

参数	JMS-GLMB	IMM-GLMB	GPB1-GLMB	GPB2-GLMB
λ=5, p_d=0.95	124.30	107.21	113.2	106.29
λ=30, p_d=0.95	136.81	119.95	123.21	119.21
λ=5, p_d=0.75	178.43	152.77	161.70	151.81

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Multiple model based generalized labeled multi-Bernoulli filter

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JMS-GLMB	IMM-GLMB	GPB1-GLMB	GPB2-GLMB
3.988	2.054	1.883	3.267

JMS-GLMB	IMM-GLMB	GPB1-GLMB	GPB2-GLMB
7.001	4.247	3.884	5.645

JMS-GLMB	IMM-GLMB	GPB1-GLMB	GPB2-GLMB
5.412	1.960	1.939	3.156