一种基于最小二乘拟合的数据关联算法

doi:10.7527/S1000-6893.2015.0209

Abstract

Abstract:

Focusing on the hard problem of the balance between accuracy and real-time performance in multiple target tracking, a data association algorithm based on least square fitting method is proposed in this paper. Firstly, the tracking in sliding window is used to predict the next state by least square fitting respectively in different dimensions, which brings more history information to the attribution judgment. Then, cooperating with the prediction point of filter update, the next real position is judged by five defined probability events, which make the judgment of association more accurate. Finally, the state update equations and covariance are deduced in different events and the method to determine the parameters is given. The simulation results show that compared with the nearest neighbor algorithm and joint probabilistic data association algorithm, the proposed algorithm can be better in the balance of real-time and accuracy with low computational complexity, which is easy to implement in engineering practice.

Key words: least square, data association, target tracking, curve-fitting, information fusion

CLC Number:

V243.2
TP953

WANG Cong, WANG Haipeng, XIONG Wei, HE You. Data association algorithm based on least square fitting[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2016, 37(5): 1603-1613.

References

[1] SINGER R A, STEIN J J. An optimal tracking filter for processing sensor data of imprecisely determined origin in surveillance systems[C]//Proceedings of the IEEE Conference on Decision and Control. Piscataway, NJ:IEEE Press, 1971:171-175.
[2] SINGER R A, SEA R G. A new filter for optimal tracking in dense multitarget environments[C]//Proceedings of the 9th Allerton Conference Circuit and system Theory, 1971:201-211.
[3] YAAKOV B S, EDISON T. Tracking in a cluttered environment with probabilistic data association[J]. Automatic, 1975, 11(5):451-460.
[4] FORTMANN T E, YAAKOV B S, SCHEFFE M. Sonar tracking of multiple targets using joint probabilistic data association[J]. IEEE Journal of Oceanic Engineering, 1983, 8(3):173-184.
[5] PURANIK S, TUGNAIT J K. Tracking of multiple maneuvering targets using multiscan JPDA and IMM filtering[J]. IEEE Transactions on Aerospace and Electronic System, 2007, 43(1):23-35.
[6] ATTARI M, DADSDEN S A, HABIBI S R. A multi-target tracking formulation of SVSF with the joint probabilistic data association technique[C]//ASME 2014 Dynamic Systems and Control Conference, 2014:23-29.
[7] YUAN C, FAN W, WANG J. Tracking for group targets using MHT[J]. Journal of Computational Information Systems, 2014, 10(18):8117-8126.
[8] BLACKMAN S S. Multiple hypothesis tracking for multiple target tracking[J]. IEEE Transactions on Aerospace and Electronic Systems, 2004, 19(1):5-18.
[9] 张文, 冯道旺, 姜文利. 基于JPDA的单站多目标无源定位[J]. 航天电子对抗, 2011, 27(4):47-51. ZHANG W, FENG D W, JIANG W L. Multi-target passive localization of single observer based on JPDA[J]. Aerospace Electronic Warfare, 2011, 27(4):47-51(in Chinese).
[10] JIANG F. Cooperative multi-target tracking in passive sensor-based networks[C]//Proceedings of IEEE Wireless Communications and Networking Conference. Piscataway, NJ:IEEE Press, 2013:4340-4345.
[11] 郭阳明, 秦卫华, 姜红梅, 等. 基于数据关联的故障快速检测[J]. 航空学报, 2008, 29(4):1027-1030. GUO Y M, QIN W H, JIANG H M, et al. Fast fault detection based data association[J]. Acta Aeronautica et Astronautica Sinica, 2008, 29(4):1027-1030(in Chinese).
[12] LONG Y L, XU H, AN W, et al. Track-before-detect for infrared maneuvering dim multi-target via MM-PHD[J]. Chinese Journal of Aeronautics, 2012, 25(2):252-261.
[13] WANG G H, TAN S C, GUAN C B, et al. Multiple model particle filter track-before-detect for range ambiguous radar[J]. Chinese Journal of Aeronautics, 2013, 26(6):1477-1487.
[14] OU Y C, JI H B. Weight over-estimation problem in GMP-PHD filter[J]. Electronics Letters, 2011, 47(2):139-141.
[15] MICHELE P, PIERRE D M. Mean-field PHD filters based on generalized Feynman-Kac flow[J]. IEEE Journal of Selected Topics in Signal Processing, 2013, 7(3):484-495.
[16] GRANS K, ORG U. A PHD filter for tracking multiple extended targets using random matrices[J]. IEEE Transactions on Signal Processing, 2012, 60(11):5657-5671.
[17] KIASI F. An interpolative fuzzy inference using least square principle by means of β₂ function and high order polynomials[C]//Proceedings of the IEEE International Conference on Mechatronics & Automation Niagara Falls. Piscataway, NJ:IEEE Press, 2005:829-836.
[18] 何友, 修建娟, 张晶炜, 等. 雷达数据处理及应用[M]. 第2版. 北京:电子工业出版社, 2009:120-122. HE Y, XIU J J, ZHANG J W, et al. Radar data processing with applications[M]. 2nd ed. Beijing:Publishing House of Electronics Industry, 2009:120-122(in Chinese).
[19] 李姣. 无线传感器网络中多目标跟踪的数据关联算法研究[D]. 武汉:华中科技大学, 2009:17-18. LI J. Research on data association algorithm of multi-target tracking in wireless sensor network[D]. Wuhan:Huazhong University of Science and Technology, 2009:17-18(in Chinese).
[20] 王国宏, 李俊杰, 张翔宇, 等. 邻近空间高超声速滑跃式机动目标的跟踪模型[J]. 航空学报, 2015, 36(7):2400-2410. WANG G H, LI J J, ZHANG X Y, et al. A tracking model for the near space hypersonic slippage leap maneuvering target[J]. Acta Aeronautica et Astronautica Sinica, 2015, 36(7):2400-2410(in Chinese).

Data association algorithm based on least square fitting

PDF (PC)

Knowledge

Abstract

Cite this article

share this article

References

Related Articles 15

Recommended Articles

Metrics

Comments

[1]	Chunhui ZHAO, Anmeng LIU, Yang LYU, Quan PAN. A survey of resilient self-localization for UAV [J]. Acta Aeronautica et Astronautica Sinica, 2024, 45(8): 28839-028839.
[2]	Yanxin WEI, Jun LIU. Spatial discretization algorithm for cell-centered finite volume method based on face gradient reconstruction [J]. Acta Aeronautica et Astronautica Sinica, 2024, 45(1): 128541-128541.
[3]	Yubin YUAN, Yiquan WU, Langyue ZHAO, Jinlin CHEN, Qichang ZHAO. Research progress of UAV aerial video multi⁃object detection and tracking based on deep learning [J]. Acta Aeronautica et Astronautica Sinica, 2023, 44(18): 28334-028334.
[4]	Tao WANG, Xuefeng GAO, Jinping ZHU, Song DONG, Lianjun SUN, Kan ZHENG. Chatter online monitoring of robotic longitudinal⁃torsional ultrasonic edge trimming [J]. Acta Aeronautica et Astronautica Sinica, 2023, 44(13): 262-272.
[5]	Chao WEN, Wenhan DONG, XIE Wujie, Ming CAI, Ri LIU. Distributed cooperative area search method for UAV swarms based on revisit mechanism [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2023, 44(11): 327561-327561.
[6]	CHEN Bo, YUE Kai, WANG Rusheng, HU Mingnan. Learning-based multi-rate multi-sensor fusion localization method [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2022, 43(S1): 726904-726904.
[7]	CHEN Linxiu, YANG Xiangyu, ZHANG Hang, ZHAO Jiajia, HAO Mingrui. Composite guidance technology based on active radar/infrared information fusion [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2022, 43(S1): 727058-727058.
[8]	LIN Jing, ZHANG Boyao, ZHANG Dayi, CHEN Min. Research status and prospect of fault diagnosis for gas turbine aeroengine [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2022, 43(8): 626565-626565.
[9]	LIU Fang, SUN Yanan. UAV target tracking algorithm based on adaptive fusion network [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2022, 43(7): 325522-325522.
[10]	XIONG Wei, ZHU Hongfeng, CUI Yaqi. Recurrent adaptive maneuvering target tracking algorithm based on online learning [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2022, 43(5): 325250-325250.
[11]	JIN Biao, KUANG Xiaofei, PENG Yu, ZHANG Zhenkai. Distributed power allocation method for netted radar based on cooperative game theory [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2022, 43(1): 324776-324776.
[12]	CHEN Zhiqiang, LIU Zhanhe, MIAO Nan, FENG Wei. Parametric reduced-order model of unsteady aerodynamics based on incremental learning algorithm [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2021, 42(7): 125103-125103.
[13]	LIU Zhenbao, MA Bodi, GAO Honggang, YUAN Jinbiao, JIANG Feihong, ZHANG Junhong, ZHAO Wen. Adaptive morphological network based UAV target tracking algorithm [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2021, 42(4): 524904-524904.
[14]	GUO Qiang, LI Wentao. Passive location method based on TDOA/FDOA in case of 4 receivers [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2021, 42(2): 324236-324236.
[15]	YE Zipeng, ZHOU Qingrui, WANG Hui. Distributed autonomous relative navigation method for spacecraft formation near solar L2 [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2021, 42(2): 324145-324145.