有色量测噪声下泊松多伯努利混合滤波器

Poisson Multi-Bernoulli Hybrid Filters with Colored Measurement Noise

为了解决有色量测噪声下的多目标跟踪问题,文章提出一种带有色量测噪声的泊松多伯努利混合滤波器。通过采用量测差分和状态增广方法,所提滤波器将带有色量测噪声的状态估计问题转化成带白量测噪声的状态估计问题。首先给出所提滤波器更新等式的推导过程,然后给出伪量测产生方法,最后用仿真结果表明所提滤波器的优越性。

In order to solve the multi-target tracking problem with colored measurement noise,a Poisson multi-Bernoulli hybrid filter with colored measurement noise(PMBM-CMN)is proposed in this paper.By using the measurement differencing method and state augmentation approach,the proposed filter transforms the problem of state estimation with colored measurement noise into the problem of state estimate with white measurement noise.Firstly,the derivation process of the update equation of the proposed filter is given,and then the pseudo measurement generation method is given.Finally,the simulation results show the superiority of the proposed filter.