共查询到20条相似文献,搜索用时 31 毫秒
1.
Survey of maneuvering target tracking. Part I. Dynamic models 总被引:8,自引:0,他引:8
This is the first part of a comprehensive and up-to-date survey of the techniques for tracking maneuvering targets without addressing the so-called measurement-origin uncertainty. It surveys various mathematical models of target motion/dynamics proposed for maneuvering target tracking, including 2D and 3D maneuver models as well as coordinate-uncoupled generic models for target motion. This survey emphasizes the underlying ideas and assumptions of the models. Interrelationships among models and insight to the pros and cons of models are provided. Some material presented here has not appeared elsewhere. 相似文献
2.
A new approach is proposed for maneuvering target tracking.Target motion is described by nonlinear models in a sphericalcoordinate system. States of these models are estimated byquantization, multiple hypothesis testing, and a suboptimumdecoding algorithm of information theory. This approach does notrequire linearization of nonlinear models. Hence it is superior toclassical estimation techniques, such as the extended Kalman filter.Simulation results, some of which are presented here, haveshown the superiority of the proposed approach over target trackingwith the extended Kalman filter. 相似文献
3.
Tracking a 3D maneuvering target with passive sensors 总被引:1,自引:0,他引:1
A novel application of the interacting multiple models (IMM) algorithm in which passive infrared sensors are fused for tracking a target maneuvering in three dimensions is discussed. More accurate models of target motion are proposed to improve performance. When the general models are used to describe the maneuvering periods, it is shown that the IMM behaviour is not satisfactory, in that the innovations associated with the different models do not discriminate between the corresponding target maneuvering regimes. The turning of the Markov chain transition matrix, i.e., a priori information, is then crucial to obtaining the correct ordering of the a posteriori regime probabilities. On the contrary, a more satisfactory behavior of the IMM algorithm is obtained by carefully selecting the target motion models in the different regimes 相似文献
4.
Xuezhi Wang Challa S. Evans R. Rong Li X. 《IEEE transactions on aerospace and electronic systems》2003,39(4):1218-1231
The variable structure multiple model (VSMM) approach to the maneuvering target tracking problem is considered. A new VSMM design, the minimal submodel-set switching (MSMSS) algorithm for tracking a maneuvering target is presented. The MSMSS algorithm adaptively determines the minimal set of models from the total model set and uses this to perform multiple models (MM) estimation. In addition, an iterative MSMSS algorithm with improved maneuver detection and termination properties is developed. Simulations results demonstrate that, compared with a standard interacting MM (IMM), the proposed algorithms require significantly lower computation while maintaining similar tracking performance. Alternatively, for a computational load similar to IMM, the new algorithms display significantly improved performance. 相似文献
5.
X. Rong Li Youmin Zhang Xiaorong Zhi 《IEEE transactions on aerospace and electronic systems》1999,35(1):242-254
For pt. III see ibid., vol. 35, pp. 225-41 (1999). A variable-structure multiple-model (VSMM) estimator, called model-group switching (MGS) algorithm, has been presented in Part III, which is the first VSMM estimator that is generally applicable to a large class of problem with hybrid (continuous and discrete) uncertainties. In this algorithm, the model-set is made adaptive by switching among a number of predetermined groups of models. It has the potential to be substantially more cost-effective than fixed-structure MM (FSMM) estimators, including the Interacting Multiple-Model (IMM) estimator. A number of issues of major importance in the application of this algorithm are investigated here, including the model-group adaptation logic and model-group design. The results of this study are implemented via a detailed design for a problem of tracking a maneuvering target using a time-varying set of models, each characterized by a representative value of the expected acceleration of the target. Simulation results are given to demonstrate the performance (based on more reasonable and complete measures than commonly used rms errors alone) and computational complexity of the MGS algorithm, relative to the fixed-structure IMM (FSIMM) estimator using all models, under carefully designed and fair random and deterministic scenarios 相似文献
6.
一类新型机动目标跟踪算法 总被引:1,自引:1,他引:0
阐述了当跟踪非机动目标时,传统的Kalman滤波可以得到很好的跟踪精度。但是当日标机动时,传统的Kalman滤波不能对目标的突然变化做出及时的改正和预测,因此跟踪精度很差,甚至出现丢失目标的情况。文中采用的基于截断正态概率模型的改进自适应目标跟踪算法, 其结构和计算简单,鲁棒性好,较好地解决了使用Kalman滤波带来的不足。 相似文献
7.
本文研究了跟踪多个机动目标时,由滤波算法所获得的新息向量范数的统计性质,关联区域的大小以及接收正确回波的概率。借助拉蒙特卡洛方法,考察了不同的目标状态模型、目标机动加速度及状态噪声方差等因素对所研究的问题的影响。研究表明,文献[1]所提出的机动目标状态模型及相应的自适应算法具有较好的适应目标机动的能力,关联区域的大小及接收正确回波的概率均较为稳定。 相似文献
8.
9.
Chung Y.-N. Gustafson D.L. Emre E. 《IEEE transactions on aerospace and electronic systems》1990,26(5):876-887
An improved algorithm for tracking multiple maneuvering targets is presented. This approach is implemented with an approximate adaptive filter consisting of the one-step conditional maximum-likelihood technique together with the extended Kalman filter and an adaptive maneuvering compensator. In order to avoid the extra computational burden of considering events with negligible probability, a validation matrix is defined in the tracking structure. With this approach, data-association and target maneuvering problems can be solved simultaneously. Detailed Monte Carlo simulations of the algorithm for many tracking situations are described. Computer simulation results indicate that this approach successfully tracks multiple maneuvering targets over a wide range of conditions 相似文献
10.
11.
This work deals with the problem of multiple target tracking, from the measurements made on a field of passive sonars activated by an active sonar (multistatic network). The difficulties encountered then are of two kinds: each sensor alone does not provide full observability of a target, and multiple, possibly maneuvering targets moving in a cluttered environment must be dealt with. The algorithm presented here is based on a discrete Markovian modelization of the targets evolution in time. It starts with a fusion of the detections obtained at each measurement time. Tracking and target motion analysis (TMA) are next achieved thanks to dynamic programming (DP). This approach leads to multiple and maneuvering target tracking, with few assumptions; for instance, the use of deterministic target state models are avoided. Simulation results are presented and discussed. 相似文献
12.
Benchmark for radar allocation and tracking in ECM 总被引:4,自引:0,他引:4
Blair W.D. Watson G.A. Kirubarajan T. Bar-Shalom Y. 《IEEE transactions on aerospace and electronic systems》1998,34(4):1097-1114
13.
14.
一种新的基于机动检测的机动目标跟踪算法 总被引:3,自引:0,他引:3
针对Kalman滤波跟踪机动目标发散和目前多数自适应Kalman滤波算法对运动模型适应性不强的问题,提出了一种新的基于机动检测的机动目标跟踪算法,通过实时自适应的改变滤波模型提高对机动目标跟踪精度。对这种方法与Kalman滤波算法进行了计算机仿真比较,结果表明,该方法计算量小,可实时精确地自适应匹配目标的运动模型,可实现对机动目标稳定可靠的跟踪。 相似文献
15.
在高斯白噪声下,使用交互式多模型算法融合主动站和被动站量测信息,在各类机动状态模型切换,完成对机动目标的定位跟踪。根据主动站到达目标然后到达被动站的距离和以及目标到达主被动站的方位角和俯仰角信息建立量测模型;在交互式多模型算法的基础上,在常规直线机动模型基础上引入Singer模型,模拟目标机动运动;以几何关系求解得到的目标位置作为目标初始解,相较于其他初始模型,算法具有更好的收敛性。仿真实验表明,在主被动站间距几十千米,目标与主被动站间距几百千米,到达角误差2°左右,到达时间误差20 m左右的情况下,使用交互式多模型算法跟踪目标,收敛误差在百米级别。 相似文献
16.
Interacting multiple model methods in target tracking: a survey 总被引:4,自引:0,他引:4
Mazor E. Averbuch A. Bar-Shalom Y. Dayan J. 《IEEE transactions on aerospace and electronic systems》1998,34(1):103-123
The Interacting Multiple Model (IMM) estimator is a suboptimal hybrid filter that has been shown to be one of the most cost-effective hybrid state estimation schemes. The main feature of this algorithm is its ability to estimate the state of a dynamic system with several behavior modes which can “switch” from one to another. In particular, the IMM estimator can be a self-adjusting variable-bandwidth filter, which makes it natural for tracking maneuvering targets. The importance of this approach is that it is the best compromise available currently-between complexity and performance: its computational requirements are nearly linear in the size of the problem (number of models) while its performance is almost the same as that of an algorithm with quadratic complexity. The objective of this work is to survey and put in perspective the existing IMM methods for target tracking problems. Special attention is given to the assumptions underlying each algorithm and its applicability to various situations 相似文献
17.
针对传统关联波门设计方法在应用于机动目标跟踪时容易引起失跟、以及概率数据关联算法不适于多交叉目标跟踪的问题,提出了一种基于人类视觉选择性注意机制和知觉客体的"特征整合"理论的认知雷达数据关联算法。算法以综合交互式多模型概率数据关联算法为基础,采取假设目标最大机动水平已知的"当前"统计模型和匀速运动模型作为模型集,通过实时交互使关联波门能够随目标机动动态调整,较好地兼顾了雷达计算耗时和跟踪成功率。在利用目标位置特征的基础上,进一步提取、整合目标运动特征,对关联波门交叉区域公共量测进行分类,使多交叉目标跟踪问题转化为多个单目标跟踪问题,优化了传统概率数据关联算法。仿真结果表明:与传统关联波门设计方法相比,算法跟踪失败率和计算耗时明显降低;而且在计算资源增加不大的情况下,杂波环境适应性也得到了显著增强。 相似文献
18.
引入神经网络的交互式多模型算法 总被引:6,自引:0,他引:6
在交互式多模型算法中引入神经网络算法以改进目标跟踪的精度。利用神经网络算法对基于机动目标“当前”统计模型的均值和方差自适应滤波算法进行修改,提高该算法的性能,然后采用交互作用多模型算法跟踪机动目标,提高了机动目标的跟踪精度。 相似文献
19.
20.
Multisensor tracking of a maneuvering target in clutter 总被引:1,自引:0,他引:1
An algorithm is presented for tracking a highly maneuvering target using two different sensors, a radar and an infrared sensor, assumed to operate in a cluttered environment. The nonparametric probabilist data association filter (PDAF) has been adapted for the multisensor (MS) case, yielding the MSPDAF. To accommodate the fact that the target can be highly maneuvering, the interacting multiple model (IMM) approach is used. The results of single-model-based filters and of the IMM/MSPDAF algorithm with two and three models are presented and compared. The IMM has been shown to be able to adapt itself to the type of motion exhibited by the target in the presence of heavy clutter. It yielded high accuracy in the absence of acceleration and kept the target in track during the high acceleration periods 相似文献