一种基于椭圆RHM的扩展目标Gamma高斯混合CPHD滤波器.pdfVIP

第30 卷 第9 期 控 制 与 决 策 2015 年 9 月 Vol. 30 No. 9 Control and Decision Sep. 2015 文章编号: 1001-0920 (2015) 09-1551-08 DOI: 10.13195/j.kzyjc.2014.0877 一种基于椭圆RHM 的扩展目标Gamma 高斯混合CPHD 滤波器 李翠芸, 林锦鹏, 姬红兵 (西安电子科技大学电子工程学院，西安710071) 摘 要: 针对杂波环境下扩展目标形状难以估计、目标跟踪精度低等问题, 提出一种自适应估计扩展目标形状的伽 玛高斯混合势概率假设密度算法(GGM-CPHD). 该算法将目标的扩展形状建模为椭圆随机超曲面模型, 并将其嵌入 到GGM-CPHD 滤波器中, 更新扩展目标的质心、椭圆形状和方向等信息以完成对扩展目标的跟踪. 通过杂波环境下 未知数目的扩展目标仿真实验, 表明了所提出算法在质心状态和椭圆长短轴的估计精度方面要优于传统的基于随机 矩阵的伽玛高斯逆韦氏CPHD 滤波器. 关键词: 多目标跟踪；扩展目标；高斯混合；势概率假设密度 中图分类号: TP391 文献标志码: A A Gamma Gaussian-mixture CPHD filter based on ellipse random hypersurface models for extended targets LI Cui-yun, LIN Jin-peng, JI Hong-bing (School of Electronic Engineering，Xidian University ，Xi’an 710071 ，China ．Correspondent ：LI Cui-yun ，E-mail: cyli@xidian.edu.cn) Abstract: In view of the difficulty of estimating the shape of extended targets and the low accuracy in multiple extended target tracking in the clutters, a Gamma Gaussian-mixture cardinalized probability hypothesis density filter(GGM-CPHD) which can adaptively estimate the shape of the extended targets is proposed. Firstly, the extension of targets is modeled as an ellipse random hypersurface model, and then it is embedded into the CPHD filter. The extended targets are tracked by its centroid states, the major and minor axis and orientation of ellipse. Simulation for tracking an unknown number of targets in the clutter is made, which shows that the proposed algorithm outperforms the Gamma Gaussian inverse wishart CPHD filter based on the random matrix