高斯混合粒子phd滤波被动测角多目标跟踪-控制与决策.pdf

绗?6 鍗 绗? 鏈 鎺 鍒 涓 鍐 绛 2011 骞 3 鏈 Vol. 26 No. 3 Control and Decision Mar. 2011 鏂囩珷缂栧彿: 1001-0920 (2011) 03-0413-05 楂樻柉娣峰悎绮掑瓙PHD 婊ゆ尝琚姩娴嬭澶氱洰鏍囪窡韪 寮犱繆鏍? 濮孩鍏 (瑗垮畨鐢靛瓙绉戞妧澶у鐢靛瓙宸ョ▼瀛﹂櫌锛岃タ瀹?10071) 鎽 瑕? 涓鸿В鍐崇洰鏍囨暟鏈煡鎴栭殢鏃堕棿鍙樺寲鐨勫鐩爣璺熻釜闂, 閫氬父灏嗗鐩爣鐘舵€佸拰瑙傛祴鏁版嵁琛ㄧず鎴愰殢鏈洪泦褰㈠紡, 骞 閫氳繃閫掓帹璁＄畻鐩爣鐘舵€佽仈鍚堝垎甯冪殑姒傜巼鍋囪瀵嗗害(PHD) 鏉ュ畬鎴? 鐒惰€? 瀵逛簬琚姩娴嬭鐨勯潪绾挎€ц窡韪棶棰? PHD 鏃犳硶 鑾峰緱闂悎瑙? 涓烘鎻愬嚭涓€绉嶆柊鐨勯珮鏂贩鍚堢矑瀛怭HD 绠楁硶. 璇ョ畻娉曞埄鐢ㄩ珮鏂贩鍚堣繎浼糚HD, 浠ラ伩鍏嶇敤鑱氱被纭畾鐩爣鐘 鎬? 骞堕噰鐢ㄦ嫙钂欑壒鍗＄綏(QMC) 绉垎鏂规硶璁＄畻鐩爣鐘舵€佺殑棰勬祴鍜屾洿鏂板垎甯? 浠跨湡缁撴灉楠岃瘉浜嗘墍鎻愬嚭绠楁硶鐨勬湁鏁堟€? 鍏抽敭璇岤 澶氱洰鏍囪窡韪紱闅忔満闆嗭紱姒傜巼鍋囪瀵嗗害锛涜鍔ㄦ祴瑙掞紱鎷熻挋鐗瑰崱缃楃Н鍒 涓浘鍒嗙被鍙耳 TN953 鏂囩尞鏍囪瘑鐮? A Gaussian mixture particle probability hypothesis density based passive bearings-only multi-target tracking ZHANG Jun-gen, JI Hong-bing (School of Electronic Engineering锛孹idian University 锛孹i鈥檃n 710071 锛孋hina 锛嶤orrespondent 锛歓HANG Jun-gen, E-mail 锛歾hang jungen@) Abstract 锛氾細锛歐hen the number of targets is unknown or varies with time, multi-target state and measurements are represented as random sets and the multi-target tracking problem is addressed by calculating the probability hypothesis density(PHD) of the joint distribution, recursively. However, PHD can not provide a closed-form solution to the nonlinear problem occurred in the passive bearings-only multi-target tracking system. A new Gaussian mixture particle PHD(GMPPHD) 铿乴ter is presented in the paper. The PHD is approximated by a mixture of Gaussians, which avoids clustering to determine target states. And Quasi-Monte Carlo integration method is used for approximating the prediction and update distributions of target states. Simulation results show the effectiveness of the proposed algorithm. Key words 锛氾細锛歮ulti-t