摘要
针对伽马高斯逆威舍特混合泊松多伯努利(Gamma Gaussian inverse Wishart mixed Poisson multi-Bernoulli,GGIW-PMB)滤波器无法估计非椭圆形状目标的问题,提出了将泊松多伯努利滤波器与高斯过程回归模型结合的方法,可对非椭圆形状目标进行准确估计。考虑到衍生存在情形下无法有效提取衍生目标及其扩展形状的问题,提出了一种衍生目标检测及建模方法,通过量测数的变化来对衍生事件做出假设,根据真实场景关系计算衍生目标状态,实现衍生目标的检测和跟踪。在泊松多伯努利滤波器的基础上,采用高斯过程回归模型作为量测模型,结合所提衍生模型,提出了基于高斯过程回归的泊松多伯努利衍生(Gaussian process regression Poisson multi-Bernoulli filter with target spawning,GPR-PMBS)滤波器。仿真结果表明,GPR-PMBS滤波器相比于GGIW-PMB滤波器能更为准确地估计非椭圆形状目标,并且在衍生存在的情形下,也可以有效提取出衍生目标及其形状,在有衍生情况的扩展目标跟踪场景中表现出良好性能。
In order to solve the problem that the Gamma Gaussian inverse Wishart mixed Poisson multi-Bernoulli(GGIW-PMB)filter cannot estimate the non-elliptic shape target,a method combining the Poisson multi-Bernoulli filter and Gaussian process regression model is proposed to estimate the non-elliptic shape target accurately.In view of the problem that the spawned sub-extended target and its extended shape cannot be extracted effectively,a spawned sub-extended target detection and modeling method is proposed.The spawned sub-extended target is detected by the change of the measurement number,and its state is calculated according to the real scene relationship.Combined with the proposed spawned sub-extended model,Gaussian process regression based Poisson multi-Bernoulli filter with target spawning(GPR-PMBS)is proposed.The simulation results show that compared with GGIW-PMB filter,the proposed algorithm can estimate the non-elliptic shape target more accurately,and can extract the spawned sub-extended target and its shape effectively,which shows good performance in the extended target tracking scenarios with target spawning.
作者
宋营营
宋骊平
SONG Yingying;SONG Liping(School of Electronic Engineering,Xidian University,Xi’an 710071,China)
出处
《计算机工程与应用》
CSCD
北大核心
2023年第22期84-91,共8页
Computer Engineering and Applications
基金
国家自然科学基金(61871301)。
关键词
高斯过程回归
泊松多伯努利
衍生目标
扩展目标跟踪
Gaussian process regression
Poisson multi-Bernoulli
target spawning
extended target tracking
作者简介
宋营营(1999-),女,硕士研究生,研究方向为目标跟踪,E-mail:moon.yysong@stu.xidian.edu.cn;宋骊平(1975-),男,博士,副教授,研究方向为目标跟踪。
