基于MDA-MHT的纯方位多目标跟踪算法

Bearing-only Multi-target Tracking Algorithm Based on MDA-MHT

水下目标所处环境复杂且可观测性较差,导致传感器测量数据易受干扰。为了解决水下纯方位多目标的快速定位跟踪问题,需正确关联各传感器的测量方位。提出了基于多维分配(MDA)-多假设跟踪(MHT)的纯方位多目标跟踪算法,利用MHT算法在高虚警条件下完成目标检测跟踪,同时利用MDA算法提前减少分支数量,从而提高计算效率。仿真结果表明,该算法不仅可提高计算效率,还可提高多轨迹交叉出现情况下多目标正确跟踪率。

The underwater target is located in a complex environment with poor observability,which makes the sensor measurement data easily disturbed.In order to solve to problem of rapid positioning and tracking of underwater bearing-only multi-target,it is necessary to correctly correlate the measured bearing of each sensor.The bearing-only multi-target tracking algorithm based on the multi-dimension assignment(MDA)and the multi-hypothesis tracking(MHT)is proposed.MHT algorithm is used to complete target detection and tracking under the condition of high false alarm,and MDA algorithm is used to reduce the number of branches in advance,so as to improve computational efficiency.Simulation results show that this algorithm can not only improve the computational efficiency,but also improve the tracking accuracy rate of multi-target in the case of multi-track crossing situation.