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电子学报  2012 

一种非线性GM-PHD滤波新方法

DOI: 10.3969/j.issn.0372-2112.2012.08.016, PP. 1597-1602

Keywords: 多目标跟踪,随机有限集,概率假设密度滤波器,容积卡尔曼滤波,模糊门限

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Abstract:

为了解决目标数未知情况下的多目标跟踪问题,提出了一种非线性条件下的高斯混合概率假设密度滤波新方法.该方法利用三阶球面容积-径向采样规则计算目标状态的概率分布特性,解决了状态方程和观测方程的非线性计算问题,利用模糊门限对滤波器的剪枝方法进行了优化,避免了高斯项数目的指数增长,利用观测数据生成新目标密度,使滤波器具备了对观测空间任意位置随机出现新目标的跟踪能力.通过仿真实验比较了四种非线性高斯混合概率假设密度滤波方法的性能,实验结果验证了提出算法的有效性.

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