组合式快速JPDA算法

COMBINATORIAL QUICK JPDA ALGORITHM

基于有序状态空间搜索方法，定义联合事件为问题节点，将多目标数据关联问题求解转化为状态空间问题求解。定义联合数据关联概率函数对数表达为节点的估价函数，减少扩展节点数，迅速产生和搜索Ｎ个最大联合概率事件。给出快速计算Ｎ个最大联合概率事件的ＪＰＤＡ公式，并提出一种确定新生节点是否是已生成节点的简便方法。算法的搜索次数不随回波数增加而增加，有效地解决了传统ＪＰＤＡ算法的实时性问题，兼有贝叶斯方法和非贝叶斯方法的各自优点。

The JPDA algorithm has excellent performance on tracking multiple targets in dense clutter environment. But its complexity will increase rapidly with the nurnber of targets and re-turns,which makes it almost impossible to be realized on realtime,In this paper,a graph search-ing algorithm which can search out N events with the largest joint probabilities is presented and an approximate bayesian estimation formula with these N events is then developed.In addition,an approach to the calculation of valuation function and repetition is also put forward.In this way,we form a new quick algorithm.The algorithm is of the performance equivalent to JPDA and its comoutation can be reduced drastically.