RESUMEN
Gaussian mixture probability hypothesis density (GM-PHD) filtering based on random finite set (RFS) is an effective method to deal with multi-target tracking (MTT). However, the traditional GM-PHD filter cannot form a continuous track in the tracking process, and it is easy to produce a large number of redundant invalid likelihood functions in a dense clutter environment, which reduces the computational efficiency and affects the update result of target probability hypothesis density, resulting in excessive tracking error. Therefore, based on the GM-PHD filter framework, the target state space is extended to a higher dimension. By adding a label set, each Gaussian component is assigned a label, and the label is merged in the pruning and merging step to increase the merging threshold to reduce the Gaussian component generated by dense clutter update, which reduces the computation in the next prediction and update. After pruning and merging, the Gaussian components are further clustered and optimized by threshold separation clustering, thus as to improve the tracking performance of the filter and finally realizing the accurate formation of multi-target tracks in a dense clutter environment. Simulation results show that the proposed algorithm can form a continuous and reliable track in dense clutter environment and has good tracking performance and computational efficiency.
Asunto(s)
Algoritmos , Análisis por Conglomerados , Simulación por Computador , Funciones de Verosimilitud , Distribución NormalRESUMEN
Since the submarine has become the major threat to maritime security, there is an urgent need to find a more efficient method of anti-submarine warfare (ASW). The digital twin theory is one of the most outstanding information technologies, and has been quite popular in recent years. The most influential change produced by digital twin is the ability to enable real-time dynamic interactions between the simulation world and the real world. Digital twin can be regarded as a paradigm by means of which selected online measurements are dynamically assimilated into the simulation world, with the running simulation model guiding the real world adaptively in reverse. By combining digital twin theory and random finite sets (RFSs) closely, a new framework of sensor control in ASW is proposed. Two key algorithms are proposed for supporting the digital twin-based framework. First, the RFS-based data-assimilation algorithm is proposed for online assimilating the sequence of real-time measurements with detection uncertainty, data association uncertainty, noise, and clutters. Second, the computation of the reward function by using the results of the proposed data-assimilation algorithm is introduced to find the optimal control action. The results of three groups of experiments successfully verify the feasibility and effectiveness of the proposed approach.
RESUMEN
Parameter estimation is one of the key technologies for system identification. The Bayesian parameter estimation algorithms are very important for identifying stochastic systems. In this paper, a random finite set based algorithm is proposed to overcome the disadvantages of the existing Bayesian parameter estimation algorithms. It can estimate the unknown parameters of the stochastic system which consists of a varying number of constituent elements by using the measurements disturbed by false detections, missed detections and noises. The models used for parameter estimation are constructed by using random finite set. Based on the proposed system model and measurement model, the key principles and formula derivation of the proposed algorithm are detailed. Then, the implementation of the algorithm is presented by using sequential Monte Carlo based Probability Hypothesis Density (PHD) filter and simulated tempering based importance sampling. Finally, the experiments of systematic errors estimation of multiple sensors are provided to prove the main advantages of the proposed algorithm. The sensitivity analysis is carried out to further study the mechanism of the algorithm. The experimental results verify the superiority of the proposed algorithm.