ACTA AERONAUTICAET ASTRONAUTICA SINICA >
Confidence-driven adaptive GMPHD multi-target tracking method
Received date: 2025-11-05
Revised date: 2025-11-18
Accepted date: 2025-12-15
Online published: 2026-01-09
Supported by
National Natural Science Foundation of China(62388101)
To address the key problem in multi-target tracking under complex interference environments-where the time-varying number of targets, complex motion modes, and prominent “false target” interference lead to significant degradation of tracking accuracy-this paper proposes a Confidence-Driven Adaptive Gaussian Mixture Probability Hypothesis Density (CA-GMPHD) filtering algorithm, which optimizes the core links of traditional GMPHD filtering through the innovative design of four types of coordinated adaptive mechanisms: specifically, the likelihood layer dynamically adjusts the measurement covariance based on measurement confidence to improve the matching accuracy between high-confidence measurements and targets, the prior layer dynamically modifies the detection probability and clutter intensity model to reduce the risk of low-confidence measurements being misjudged as real targets, the fusion layer embeds a confidence power weight factor in the weight update process to enhance the fusion efficiency of prior confidence information and geometric consistency constraints, and the structure layer adaptively optimizes the pruning and merging thresholds based on the global average confidence to effectively suppress the expansion of the number of filter components in strong clutter scenarios. To verify the algorithm performance, simulation scenarios including multi-sensor, multi-target, and two types of typical strong interference sources (chaff clouds and corner reflectors) are constructed, where the measurement confidence is generated by mapping the detector output probability through a mapping function, and experimental results show that compared with the standard GMPHD algorithm, the proposed CA-GMPHD algorithm significantly reduces both the global Root Mean Square Error (RMSE) and Optimal Subpattern Assignment (OSPA)-two core evaluation metrics-while maintaining computational efficiency, remarkably improving the accuracy and robustness of multi-target tracking under complex interference environments and possessing important theoretical significance and engineering application value.
Ziyue NIU , Chengwei PAN , Lu WANG , Jiwei CHEN , Chenxi HUANG , Xiwang DONG . Confidence-driven adaptive GMPHD multi-target tracking method[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2026 , 47(S1) : 733049 -733049 . DOI: 10.7527/S1000-6893.2025.33049
| [1] | CHONG C Y. An overview of machine learning methods for multiple target tracking[C]∥2021 IEEE 24th International Conference on Information Fusion (FUSION). Piscataway: IEEE Press, 2021: 1-9. |
| [2] | SHI K, HE S B, SHI Z Y, et al. Radar and camera fusion for object detection and tracking: A comprehensive survey[J]. IEEE Communications Surveys & Tutorials, 2026, 28: 3478-3520. |
| [3] | MAHLER R P S. Multitarget Bayes filtering via first-order multitarget moments[J]. IEEE Transactions on Aerospace and Electronic Systems, 2003, 39(4): 1152-1178. |
| [4] | VO B N, MA W K. A closed-form solution for the probability hypothesis density filter[C]∥2005 7th International Conference on Information Fusion. Piscataway: IEEE Press, 2006. |
| [5] | CAO X, TIAN Y L, LIN Y R, et al. The GMPHD filter for swarm target tracking based on gamma Gaussian processes[C]∥2024 IEEE Radar Conference (RadarConf24). Piscataway: IEEE Press, 2024: 1-6. |
| [6] | SONG Y M, YOON K, YOON Y C, et al. Online multi-object tracking with GMPHD filter and occlusion group management[J]. IEEE Access, 2019, 7: 165103-165121. |
| [7] | PANTA K, CLARK D E, VO B N. Data association and track management for the Gaussian mixture probability hypothesis density filter[J]. IEEE Transactions on Aerospace and Electronic Systems, 2009, 45(3): 1003-1016. |
| [8] | KIM S, LEE S U. A system design for 3D visualization of underwater multi-target tracking based on unity 3D and GMPHD filter[C]∥2025 International Conference on Electronics, Information, and Communication (ICEIC). Piscataway: IEEE Press, 2025: 1-3. |
| [9] | 郝维冰, 李明. 一种改进的GMPHD高机动多目标跟踪算法[J]. 雷达科学与技术, 2024, 22(5): 478-486. |
| HAO W B, LI M. An improved GMPHD high-maneuverability multi-target tracking algorithm[J]. Radar Science and Technology, 2024, 22(5): 478-486 (in Chinese). | |
| [10] | RISTIC B, VO B N, CLARK D, et al. A metric for performance evaluation of multi-target tracking algorithms[J]. IEEE Transactions on Signal Processing, 2011, 59(7): 3452-3457. |
| [11] | 朱洪波, 金嘉慧. 信任自适应事件触发鲁棒扩展卡尔曼融合滤波的目标跟踪[J]. 电子与信息学报, 2025, 47(8): 2694-2702. |
| ZHU H B, JIN J H. Trust adaptive event-triggered robust extended Kalman fusion filtering for target tracking[J]. Journal of Electronics & Information Technology, 2025, 47(8): 2694-2702 (in Chinese). | |
| [12] | HE S, WU P L, LI X X, et al. Adaptive modified unbiased minimum-variance estimation for highly maneuvering target tracking with model mismatch[J]. IEEE Transactions on Instrumentation and Measurement, 2023, 72: 8501216. |
| [13] | HASSAN S, MUJTABA G, RAJPUT A, et al. Multi-object tracking: A systematic literature review[J]. Multimedia Tools and Applications, 2024, 83(14): 43439-43492. |
| [14] | KALTIOKALLIO O, GE Y, TALVITIE J, et al. mmWave simultaneous localization and mapping using a computationally efficient EK-PHD filter[C]∥2021 IEEE 24th International Conference on Information Fusion (FUSION). Piscataway: IEEE Press, 2021: 1-8. |
| [15] | 赵斌, 胡建旺, 吉兵. EK-GMPHD滤波算法[J]. 电光与控制, 2015, 22(11): 84-88. |
| ZHAO B, HU J W, JI B. EK-GMPHD filter algorithm[J]. Electronics Optics & Control, 2015, 22(11): 84-88 (in Chinese). | |
| [16] | ARASARATNAM I, HAYKIN S. Cubature Kalman filters[J]. IEEE Transactions on Automatic Control, 2009, 54(6): 1254-1269. |
| [17] | VO B T. Random finite sets in multi-object filtering[J]. IEEE Transaction on Signal Processing, 2008, 56(4): 1313-1326. |
| [18] | Welch G, Bishop G. An introduction to the Kalman filter[J]. Proc of SIGGRAPH, Course, 2001, 8(27599-23175): 41. |
| [19] | 陈玲. 基于贝叶斯滤波理论的多目标协同跟踪方法研究[D]. 镇江: 江苏大学, 2022. |
| CHEN L. Research on multiple target cooperative tracking method based on Bayesian filtering theory[D]. Zhenjiang: Jiangsu University, 2022 (in Chinese). | |
| [20] | HODSON T O. Root Mean Square Error (RMSE) or Mean Absolute Error (MAE): When to use them or not[J]. Geoscientific Model Development Discussions, 2022, 2022: 1-10. |
| [21] | ZHANG B Y, QI B, WANG J J, et al. An improved Gaussian mixture-probability hypothesis density filter for underwater multiple target tracking in dense clutter scenario[C]∥2024 OES China Ocean Acoustics (COA). Piscataway: IEEE Press, 2024: 1-7. |
| [22] | ARDESHIRI T, ?ZKAN E. An adaptive PHD filter for tracking with unknown sensor characteristics[C]∥Proceedings of the 16th International Conference on Information Fusion. Piscataway: IEEE Press, 2013: 1736-1743. |
| [23] | WOJKE N, PAULUS D. Confidence-aware probability hypothesis density filter for visual multi-object tracking[C]∥Proceedings of the 12th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications. 2017: 132-139. |
/
| 〈 |
|
〉 |