Rao-Blackwellized粒子概率假设密度滤波算法

针对多目标跟踪（MTT），提出一种新的基于随机集的滤波算法，称为Rao-Blackwellized粒子概率假设密度滤波算法（RBP-PHDF）。算法运用Rao-Blackwellized思想，通过挖掘分析“混合线性/非线性模型”的结构，采用序列蒙特卡罗（SMC）方法预测与估计概率假设密度（PHD）迭代式中各个目标的非线性状态，并利用非线性状态粒子中包含的信息，使用卡尔曼滤波器（KF）对线性状态进行预测与估计。以更好地估计PHD进而提高各目标状态估计精度。分析与MTT仿真的结果表明，在相同的仿真条件下，与现有序列蒙特卡罗概率假设密度滤波算法（SMC-PHDF）相比，RBP-PHDF在降低粒子维数、减少计算量的同时，有效提升了估计精度。

Rao-Blackwellized Particle Probability Hypothesis Density Filter

In this article, a new random set based on the probability hypothesis density filtering algorithm called the Rao-Blackwellized particle probability hypothesis density filter (RBP-PHDF) is proposed for multi-target tracking (MTT) application. The algorithm, while utilizing the idea of Rao-Blackwellized to enhance the estimating performance of the probability hypothesis density (PHD), adopts the sequential Monte Carlo (SMC) method to predict and estimate the nonlinear states of the multiple targets. In additi...