Effective implementation and improvement of fast labeled multi-Bernoulli filter

Effective implementation of the fast labeled multi-Bernoulli(FLMB)filter is addressed for target tracking with interval measurements.Firstly,a sequential Monte Carlo(SMC)implementation of the FLMB filter,SMC-FLMB filter,is derived based on generalized likelihood function weighting.Then,a box particle(BP)implementation of the FLMB filter,BP-FLMB filter,is developed,with a computational complexity reduction of the SMC-FLMB filter.Finally,an improved version of the BP-FLMB filter,improved BP-FLMB(IBP-FLMB)filter,is proposed,improving its estimation accuracy and real-time performance under the conditions of low detection probability and high clutter.Simulation results show that the BP-FLMB filter has a great improvement of the real-time performance than the SMC-FLMB filter,with similar tracking performance.Compared with the BP-FLMB filter,the IBP-FLMB filter has better estimation performance and real-time performance under the conditions of low detection probability and high clutter.

Multiple-model GLMB filter based on track-before-detect for tracking multiple maneuvering targets

A generalized labeled multi-Bernoulli(GLMB)filter with motion mode label based on the track-before-detect(TBD)strategy for maneuvering targets in sea clutter with heavy tail,in which the transitions of the mode of target motions are modeled by using jump Markovian system(JMS),is presented in this paper.The close-form solution is derived for sequential Monte Carlo implementation of the GLMB filter based on the TBD model.In update,we derive a tractable GLMB density,which preserves the cardinality distribution and first-order moment of the labeled multi-target distribution of interest as well as minimizes the Kullback-Leibler divergence(KLD),to enable the next recursive cycle.The relevant simulation results prove that the proposed multiple-model GLMB-TBD(MM-GLMB-TBD)algorithm based on K-distributed clutter model can improve the detecting and tracking performance in both estimation error and robustness compared with state-of-the-art algorithms for sea clutter background.Additionally,the simulations show that the proposed MM-GLMB-TBD algorithm can accurately output the multitarget trajectories with considerably less computational complexity compared with the adapted dynamic programming based TBD(DP-TBD)algorithm.Meanwhile,the simulation results also indicate that the proposed MM-GLMB-TBD filter slightly outperforms the JMS particle filter based TBD(JMSMeMBer-TBD)filter in estimation error with the basically same computational cost.Finally,the impact of the mismatches on the clutter model and clutter parameter is investigated for the performance of the MM-GLMB-TBD filter.

Variational Bayesian labeled multi-Bernoulli filter with unknown sensor noise statistics

It is difficult to build accurate model for measurement noise covariance in complex backgrounds. For the scenarios of unknown sensor noise variances, an adaptive multi-target tracking algorithm based on labeled random finite set and variational Bayesian （VB） approximation is proposed. The variational approximation technique is introduced to the labeled multi-Bernoulli （LMB） filter to jointly estimate the states of targets and sensor noise variances. Simulation results show that the proposed method can give unbiased estimation of cardinality and has better performance than the VB probability hypothesis density （VB-PHD） filter and the VB cardinality balanced multi-target multi-Bernoulli （VB-CBMeMBer） filter in harsh situations. The simulations also confirm the robustness of the proposed method against the time-varying noise variances. The computational complexity of proposed method is higher than the VB-PHD and VB-CBMeMBer in extreme cases, while the mean execution times of the three methods are close when targets are well separated.

鲁棒自适应的机载外辐射源雷达多目标跟踪算法

针对未知杂波环境下机载外辐射源雷达的多目标跟踪问题,提出一种鲁棒自适应的标签多伯努利滤波器。首先基于标签多伯努利滤波器算法框架对多目标跟踪问题进行建模,然后针对目标新生参数、杂波参数以及目标检测概率未知的问题,提出采用量测驱动的目标新生模型和基于势均衡多目标多伯努利估计器的在线参数估计方法,最后考虑到机载外辐射源雷达量测的非线性,采用序贯蒙特卡罗方法对所提算法进行实现。实验结果表明,所提滤波器能够利用外辐射源量测准确估计多目标航迹,且在未知杂波环境下的性能可以逼近杂波参数已知的广义标签多伯努利滤波器,鲁棒性更好。

Generalized labeled multi-Bernoulli filter with signal features of unknown emitters

A novel algorithm that combines the generalized labeled multi-Bernoulli(GLMB) filter with signal features of the unknown emitter is proposed in this paper. In complex electromagnetic environments, emitter features(EFs) are often unknown and time-varying. Aiming at the unknown feature problem, we propose a method for identifying EFs based on dynamic clustering of data fields. Because EFs are time-varying and the probability distribution is unknown, an improved fuzzy C-means algorithm is proposed to calculate the correlation coefficients between the target and measurements, to approximate the EF likelihood function. On this basis, the EF likelihood function is integrated into the recursive GLMB filter process to obtain the new prediction and update equations.Simulation results show that the proposed method can improve the tracking performance of multiple targets,especially in heavy clutter environments.

多模型标签多伯努利机动目标跟踪算法

针对标准标签多伯努利(labeled multi-Bernoulli,LMB)算法只考虑了单个运动模型的问题,提出了一种适用于跳转马尔科夫系统的多模型标签多伯努利(multiple model LMB,MM-LMB)算法。首先对目标状态进行扩展,将多模型思想引入LMB算法得到了新的预测和更新方程,并给出了算法的序贯蒙特卡罗实现。仿真实验表明,MM-LMB算法能对多机动目标进行有效跟踪,在复杂探测环境下跟踪精度优于多模型概率假设密度(multiple model probability hypothesis density,MM-PHD)算法和多模型势平衡多目标多伯努利(multiple model cardinality balanced multi-target multi-Bernoulli,MM-CBMeMBer)算法;所提算法计算量当目标相距较远时低于MM-PHD和MM-CBMeMBer,目标聚集时增长速度快于对比算法。

考虑配准时空误差的多目标标签多伯努利滤波

针对多传感器协同跟踪目标过程中存在多节点间的信息时间延迟和空间配准偏差问题,提出基于配准偏差和时间延迟的标签多伯努利滤波(labeled multi-Bernoulli based on the registration errors and time delay,LMB-ReDe)算法。首先,通过排队论对节点个数随机变化的网络时间随机延迟进行建模;然后,构建了延迟环境中的非固定周期的目标转移过程和时间延迟过程中的伪量测;最后,在LMB滤波基础上提出LMB-ReDe算法实现目标状态的实时估计。仿真结果表明,在节点数随机变化的多传感器协同探测中,采用LMB-ReDe滤波器跟踪位置精度优于标准的LMB滤波器。

基于标签多贝努利多传感器组网目标跟踪算法

随着电磁环境的日益复杂,强干扰和高杂波带来的目标低检测概率问题日益突出,给探测系统准确估计监测区域内目标个数以及目标状态带来了新的挑战。针对低检测概率问题,提出随机有限集框架下基于标签多贝努利(labelled multi-Bernoulli,LMB)多传感器组网目标跟踪算法。该算法首次将LMB框架应用到不同探测范围的多传感器组网目标跟踪场景中,实现了多目标跟踪目标数和相应状态稳定估计。仿真结果表明,所提方法不仅能在低检测概率条件下获得目标稳定的航迹估计,及时捕捉目标新生、消亡等事件,还能有效叠加不同传感器不同探测范围,充分发挥多传感器优势。

未知探测概率的自适应多目标跟踪算法

为在复杂背景下对系统探测概率进行精确建模,提出一种适用于探测概率未知情形的多目标跟踪算法。通过时变自回归过程对探测概率进行建模,将参数化模型与标签多伯努利(LMB)滤波器相结合,并给出算法的序贯蒙特卡洛实现。仿真结果表明,所提算法的目标数和目标状态估计结果均优于Beta势平衡多目标多伯努利算法,平均最优次模型分配距离明显小于固定探测概率的LMB算法。

鲁棒标签多伯努利机动目标跟踪算法

针对未知杂波和检测概率的跟踪环境下,标准的标签多伯努利（LMB）算法对机动目标跟踪性能较差等问题,提出鲁棒标签多伯努利机动目标跟踪算法（R-LMB）.首先建立真实目标、杂波与检测概率的增广空间模型,然后结合多模型（MM）系统,推导出基于蒙特卡罗（SMC）实现的带有状态标签和LMB元素标签的预测与更新方程.研究结果表明：在杂波和检测概率先验未知的情况下,所提出的算法可实现对目标数和目标状态的准确估计,同时在低检测概率和高杂波强度环境中仍可保证良好的多机动目标跟踪性能.