三维空间纯方位多目标跟踪PHD算法

doi:10.3969/j.issn.0372-2112.2018.06.014

电子学报 ›› 2018, Vol. 46 ›› Issue (6): 1371-1377.DOI: 10.3969/j.issn.0372-2112.2018.06.014

三维空间纯方位多目标跟踪PHD算法

熊志刚, 黄树彩, 苑智玮, 赵炜

空军工程大学防空反导学院, 陕西西安 710051

收稿日期:2016-04-24 修回日期:2016-12-14 出版日期:2018-06-25
- 作者简介:
- 熊志刚,男,1992年8月出生,湖北英山人.2014年于空军工程大学防空反导学院获工学学士学位.现为空军工程大学防空反导学院硕士研究生,从事空天协同目标跟踪与拦截引导方面研究.E-mail:xiongzgzm@163.com;黄树彩,男,1967年1月出生,湖北黄梅人.教授博士生导师.2005年在空军工程大学防空反导学院获工学博士学位,现为空军工程大学防空反导学院教授.主要研究方向为空天协同目标探测与跟踪.E-mail:hsc67118@126.com;苑智玮,男,1993年2月出生,内蒙古通辽人.2014年于长春理工大学获工学学士学位.现为空军工程大学防空反导学院硕士研究生,主要研究方向为红外目标检测.E-mail:YuanzhiweiSachiel@163.com;赵炜,男,1990年1月出生,河北沧州人.2012年和2014年在空军工程大学防空反导学院分获工学学士学位、工学硕士学位.现为空军工程大学防空反导学院博士研究生,主要研究方向为空天协同目标跟踪.E-mail:shnxshdny@163.com
- 基金资助:
- 国家自然科学基金 (No.61573374，No.61503408）; 航空科学基金 (No.20130196004）

Bearings-Only Multi-targets Tracking PHD in the Three Dimensional Space

XIONG Zhi-gang, HUANG Shu-cai, YUAN Zhi-wei, ZHAO Wei

Air and Missile Defense College, Air Force Engineering University, Xi'an, Shaanxi 710051, China

Received:2016-04-24 Revised:2016-12-14 Online:2018-06-25 Published:2018-06-25
- Supported by:
- National Natural Science Foundation of China (No.61573374, No.61503408); Aeronautical Science Foundation of China, ASFC (No.20130196004)

摘要/Abstract

摘要： 针对基于概率假设密度算法（Probability Hypothesis Density，PHD）的高维纯方位多目标跟踪，提出了新型的PHD算法-新型采样准则的基于无迹变换的粒子PHD算法（Unscented Particle PHD based on New Sampling Rule，NSRUP-PHD）.新算法对每个目标设计了基于无迹变换（Unscented Transform，UT）的粒子滤波器，不仅解决了非线性滤波估计的问题，而且还通过高斯混合的方式实现了非高斯噪声估计.此外粒子滤波器提出了一种新型的采样手段，通过基于三阶容积准则（Cubature Rule，CR）的粒子方位选择和概率累加的距离延伸，使得采样粒子遍布整个空间的同时保障了粒子概率分布的问题，提高了粒子使用的效率.仿真结果表明NSRUP-PHD能够实现多目标有效跟踪，相比于传统的算法和伪随机采样，新型滤波器和采样手段可改善跟踪效果.

关键词: 多目标跟踪, 概率假设密度, 无迹变换, 三阶容积准则

Abstract: Aiming at high dimensional bearings-only multi-target tracking,unscented particle PHD based on new sampling rule (NSRUP-PHD) is proposed.For NSRUP-PHD,a particle filter based on unscented transform is designed,which successfully fulfills the states estimation of non-linear system,and realizes the noise update by mixture of a series of Gauss parts.Besides,NSRUP-PHD provides a new sampling method to accomplish the particles angular resolution with the three cubature rule (CR),and the distance between the certain particle and the expectation is the upper limit of probability integration,certainly,the particles can be spread through the whole sampling space by obtaining the relative probability and getting the distance,which results in enhancing the particles efficiency.Simulation results on NSRUP-PHD prove that new filter and sampling method are more effective for bearings-only multi-target tracking in comparison with traditional filter and pseudo random sampling.

Key words: multi-target tracking, probability hypothesis density, unscented transform, three cubature rule

中图分类号:

TN953

熊志刚, 黄树彩, 苑智玮, 等. 三维空间纯方位多目标跟踪PHD算法[J]. 电子学报, 2018, 46(6): 1371-1377.

XIONG Zhi-gang, HUANG Shu-cai, YUAN Zhi-wei, et al. Bearings-Only Multi-targets Tracking PHD in the Three Dimensional Space[J]. Acta Electronica Sinica, 2018, 46(6): 1371-1377.

参考文献

[1] 盛卫东.天基光学监视系统目标跟踪技术研究[D].长沙:国防科学技术大学,2011. SHENG Wei-dong.Research on Target Tracking Technologies for Space-Based Optical Surveillance System[D].Changsha:National University of Defense Technology,2011.(in Chinese)
[2] 占荣辉,张军.非线性滤波理论与目标跟踪应用[M].北京:国防工业出版社,2013. ZHAN Rong-hui,ZHANG Jun.Nonlinear Filtering Theory With Target Tracking Application[M].Beijing:National Defense Industry Press,2013.(in Chinese)
[3] FEND D,HE L,CHENG L J.Calibration and adjustment of center of mass(COM) based on EKF during in-flight phase[J].Science in China(Series E:Technological Sciences),2009,52(05):1446-1449.
[4] LIU X,GAO Q,LI X L.Control of epileptiform spikes based on nonlinear unscented Kalman filter[J].Chinese Physics B,2014,23(01).
[5] 杨天池,程娟,邵奇峰,等.单站定位中的散射体位置及散射距离的估计方法-合成运动的扩展卡尔曼估计[J].电子学报,2014,42(04):730-735. YANG Tian-chi,CHENG Juan,SHAO Qi-feng.The estimation of the scatterer position and scattering distance in the single station location:the EKF estimation based on synthetic motion[J].Acta Electronica Sinica,2014,42(04):730-735.(in Chinese)
[6] WU C L,HAN C Z.Quadrature Kalman particle fitter[J].Journal of Systems Engineering and Electronics,2010,21(2):175-179.
[7] LIU Y,DONG K,WANG H P,et al.Adaptive Gaussian sum squared-root cubature Kalman filter with split-merge scheme for state estimation[J].Chinese Journal of Aeronautics,2014,27(05):1242-1250.
[8] ZHANG X C.Cubature information filters using high-degree and embedded cubature rules[J].Circuits,Systems,and Signal Processing,2014,33(6):1799-1818.
[9] COOLS R,HAEGEMANS A.An imbedded family of cubature formulae for n-dimensional product regions[J].Journal of Computational and Applied Mathematics,1994,51(2):251-260.
[10] 刘望生,李亚安,王明环.复合K噪声下机动目标跟踪自适应UPF算法[J].电子学报,2012,40(6):1240-1245. Liu Wang-sheng,Li Ya-an,Wang Ming-huan.An adaptive upf algorithm for tracking maneuvering target in compound K noise environment[J].Acta Electronica Sinica,2012,40(6):1240-1245.(in Chinese)
[11] ZENG T,LI C X,LIU Q H,et al,Tracking with nonlinear measurement model by coordinate rotation transformation[J].Science China(Technological Sciences),2014,57(12):2396-2406.
[12] Halil Ersin Soken,Chingiz Hajiyev.REKF and RUKF for pico satellite attitude estimation in the presence of measurement faults[J].Journal of Systems Engineering and Electronics,2014,25(02):288-297.
[13] CAI Z X,WEN S,LIU L J.Dynamic cluster member selection method for multi-target tracking in wireless sensor network[J].Journal of Central South University,2014,21(02):636-645.
[14] 王品,谢维信,刘宗香,李鹏飞.一种非线性GM-PHD滤波新方法[J].电子学报,2012,40(8):1597-1602. WANG Pin,XIE Wei-xin,LIU Zong-xiang,LI Peng-fei.A novel Gaussian mixture PHD filter for nonlinear models[J].Acta Electronica Sinica,2012,40(8):1597-1602.(in Chinese)
[15] ZHANG L P,WANG L P,LI B,et al.Kernel density estimation and marginalized-particle based probability hypothesis density filter for multi-target tracking[J].Journal of Central South University,2015,22(03):956-965.
[16] ZHAN R H,GAO Y Z,HU J M,et al.,SMC-PHD based multi-target track-before-detect with nonstandard point observations model[J].Journal of Central South University,2015,22(01):232-240.
[17] 李翠芸,江舟,姬红兵,等.基于拟蒙特卡罗的未知杂波GMP-PHD滤波器[J].控制与决策,2014,29(11):1997-2001. LI Cui-yun,JIANG Zhou,JI Hong-bing,et al.GMP-PHD filter based on quasi-Monte Carlo in unknown clutter[J].Control and Decision,2014,29(11):1997-2001.(in Chinese)
[18] WU X H,HUANG G M,GAO J.Particle filters for probability hypothesis density filter with the presence of unknown measurement noise covariance[J].Chinese Journal of Aeronautics,2013,26(06):1517-1523.
[19] VO B,PASHA A,TUAN H.D.A Gaussian mixture PHD filter for nonlinear jump Markov models[A].45th IEEE Conference on Decision & Control[C].San Diego,CA,USA:IEEE,2006.75-79.
[20] 谢晨欣,李旦,张建秋.非高斯噪声环境迭代自适应DOA估计的算法[J].复旦学报(自然科学版),2015,54(02):190-197. XIE Chen-xin,LI Dan,ZHANG Jian-qiu.An iterative adaptive direction of arrival estimation algorithm in non-Gaussian environment[J].Journal of Fudan University (Natural Science),2015,54(02):190-197.(in Chinese)
[21] MAHLER R.Multitarget Bayes Filtering via first-order multitarget moments[J].IEEE Transactions on Aerospace And Electronic Systems,2003,39(4):1152-1178.

三维空间纯方位多目标跟踪PHD算法

Bearings-Only Multi-targets Tracking PHD in the Three Dimensional Space

PDF

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 15

编辑推荐

Metrics

[1]	吴孙勇, 李东升, 薛秋条, 孙希延, 蔡如华. 基于PHD滤波的雷达起伏目标检测前跟踪算法研究[J]. 电子学报, 2022, 50(3): 691-702.
[2]	侯利明, 连峰, 谭顺成, 徐从安. 闪烁噪声统计特性未知情况下的鲁棒广义标签多伯努利滤波器[J]. 电子学报, 2021, 49(7): 1346-1353.
[3]	罗大鹏, 杜国庆, 曾志鹏, 魏龙生, 高常鑫, 陈应, 肖菲, 罗琛. 基于少量样本学习的多目标检测跟踪方法[J]. 电子学报, 2021, 49(1): 183-191.
[4]	陈辉, 贺忠良, 邓东明, 李国财. 高斯混合多伯努利滤波器基于柯西施瓦兹散度的传感器控制方法[J]. 电子学报, 2020, 48(4): 706-716.
[5]	陈辉, 贺忠良, 连峰, 黎慧波. 基于高斯混合多目标滤波器的传感器控制策略[J]. 电子学报, 2019, 47(3): 521-530.
[6]	连峰, 张修立, 魏博, 侯利明, 韩崇昭, 王伟. 基于多目标MS-OSPA下界的分散式传感器选择[J]. 电子学报, 2019, 47(10): 2158-2165.
[7]	樊鹏飞, 李鸿艳. 基于GIW-PHD的扩展目标联合跟踪与分类算法[J]. 电子学报, 2018, 46(7): 1562-1570.
[8]	曲长文, 冯奇, 李廷军. 基于分治-贪心算法的高斯混合多观测站CPHD滤波器[J]. 电子学报, 2018, 46(10): 2472-2479.
[9]	徐从安, 熊伟, 刘瑜, 何友. 新生目标强度未知的单量测PHD滤波器[J]. 电子学报, 2016, 44(10): 2300-2307.
[10]	刘宗香, 谢维信, 李丽娟, 李良群. 非线性高斯系统边缘分布多目标贝叶斯滤波器[J]. 电子学报, 2015, 43(9): 1689-1695.
[11]	姜明新, 王培昌, 王洪玉. 基于视频多目标跟踪的高度测量算法[J]. 电子学报, 2015, 43(3): 591-596.
[12]	刘宗香, 谢维信, 王品, 余友. 一种具有信息保持能力的GM-PHD滤波器[J]. 电子学报, 2013, 41(8): 1603-1608.
[13]	王品, 谢维信, 刘宗香, 李鹏飞. 一种非线性GM-PHD滤波新方法[J]. 电子学报, 2012, 40(8): 1597-1602.
[14]	杨威, 付耀文, 龙建乾, 黎湘. 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.
[15]	欧阳成, 姬红兵, 田野. 一种基于模糊聚类的PHD航迹维持算法[J]. 电子学报, 2012, 40(6): 1284-1288.