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改进的概率假设密度滤波多目标检测前跟踪算法

Keywords: 检测前跟踪,概率假设密度滤波,粒子更新,粒子采样

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Abstract:

基于概率假设密度滤波(ProbabilityHypothesisDensity,PHD)的检测前跟踪(Trackbeforedetect,TBD)技术可以有效解决未知目标数的弱小点目标检测前跟踪问题.文章针对现有PHD-TBD算法存在目标数估计不准、目标发现延时较久的问题进行研究.从标准PHD滤波出发,更为合理地推导出PHD-TBD算法的粒子权重更新计算表达式,实现对目标数的准确估计;同时利用贝叶斯滤波理论,推导出基于量测的新生粒子概率密度采样函数,完成对目标的快速发现.仿真实验表明,与现有的PHD-TBD相比,改进算法能够适应目标扩散情况,准确估计目标数目,并实现对目标的快速发现和位置准确估计.

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