模型参数未知时的cphd多目标跟踪方法..pdfVIP

A pr V ol N o doi : ./ j .issn . . . . T N A CPHD multitarget tracking algorithm with unknown model parameters L I Cuiy un , WA N G J ingy i , , J I H ongbing , WA N G Rong ( . School of Electronic Engineering , Xidian U niv . , Xi an , China ; . PLA , U nit , Xiangyang , China ; . School of Electronic Information and Electronic Engineering , Shangluo U niv . , Shangluo , China) Abstract : Since the multi object tracking performance of the traditional method w ill decline w ith unknow n model parameters , a CP HD target tracking algorithm is proposed to jointly estimate the detection probability and measurement noise covariance . Firstly , for model the unknow n parameters of multiple targets tracking , the detection probability is considered as a variable in a distribution . T he detection probability can be obtained by estimating the mean of the distribution . T hen , the Variational Bayesian method is used to estimate the covariance of the measurement noise . Finally , the Gaussian implementation of this algorithm is presented . Simulation results show that the algorithm has good tracking performance under jointly unknow n detection probability and the covariance of the measurement noise . Key Words : detection probability ; measurement noise covariance ; variational Bayesian ; multitarget tracking