基于幅度信息的海上多目标稳健跟踪方法
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摘要
提出了一种基于海杂波中目标幅度信息的稳健多伯努利滤波器,利用海杂波和目标的幅度信息改进量测似然,当目标与杂波相距较近时,能够更好地区分目标和杂波,提升对海探测环境下雷达的多目标跟踪性能。通过在K分布海杂波环境下对SwerlingⅠ型起伏目标的跟踪实验,证明了所提方法具有比稳健多伯努利滤波器更优的多目标势估计、状态估计和杂波率估计性能。
A robust multi-Bernoulli filter based on the amplitude information of the target in sea clutter was proposed, inwhich the amplitude information of the target and sea clutter was exploited to improve the measurement likelihood.Therefore, the proposed approach could distinguish targets from clutter better when they were spatially close, which fur-ther enhanced the ability to track targets in marine radar detection applications. The simulation results of Swerling type Ⅰfluctuating targets tracking in K distributed sea clutter show that, the proposed algorithm is superior in performance to therobust multi-Bernoulli filter in terms of state estimation, cardinality estimation, as well as clutter rate estimation.
A robust multi-Bernoulli filter based on the amplitude information of the target in sea clutter was proposed, inwhich the amplitude information of the target and sea clutter was exploited to improve the measurement likelihood.Therefore, the proposed approach could distinguish targets from clutter better when they were spatially close, which fur-ther enhanced the ability to track targets in marine radar detection applications. The simulation results of Swerling type Ⅰfluctuating targets tracking in K distributed sea clutter show that, the proposed algorithm is superior in performance to therobust multi-Bernoulli filter in terms of state estimation, cardinality estimation, as well as clutter rate estimation.
引文
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[23]BREKKE E,HALLINGSTAD O,GLATTETRE J.Tracking small targets in heavy-tailed clutter using amplitude information[J].IEEEJournal of Oceanic Engineering,2010,35(2):314-329.
[24]BREKKE E,HALLINGSTAD O,GLATTETRE J.The modified riccati equation for amplitude-aided target tracking in heavy-tailed clutter[J].IEEE Transactions on Aerospace and Electronic Systems,2011,47(4):2874-2886.
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[26]CLARK D,RISTIC B,Vo B N,et al.Bayesian multi-object filtering with amplitude feature likelihood for unknown object SNR[J].IEEETransactions on Signal Processing,2010,58(1):26-37.
[27]LI S,KONG L,YI W,et al.PHD filter with amplitude information in Weibull clutter[C]//IEEE Radar Conference.2013:1-6.
[28]袁常顺,王俊,孙进平,等.一种幅度信息辅助多伯努利滤波算法[J].电子与信息学报,2016,38(2):464-471.YUAN C S,WANG J,SUN J P,et al.A multi-Bernoulli filtering algorithm using amplitude information[J].Journal of Electronics and Information Technology,2016,38(2):464-471.
[29]YUAN C S,WANG J,PENG L,et al.Multi-target tracking based on multi-Bernoulli filter with amplitude for unknown clutter rate[J].Sensors,2015,15(12):30385-30402.
[30]刘恒燕,宋杰,熊伟,等.大入射余角海杂波相关特性分析及幅度拟合[J].海军航空工程学院学报,2018,33(3):307-312.LIU H Y,SONG J,XIONG W,et al.Sea clutter correlation analysis and amplitude fitting for large grazing angle[J].Journal of Naval Aeronautical and Astronautical University,2018,33(3):307-312.
[31]SCHUHMACHER D,VO B T,VO B N.A consistent metric for performance evaluation of multi object Filters[J].IEEE Transactions on Signal Processing,2008,56(8):3447-3457.
[2]VO B N,MALLICK M,BAR-SHALOM Y,et al.Multitarget tracking[M].Manhattan:John Wiley&Sons,2015.
[3]MAHLER R.Multitarget Bayes filtering via first-order multitarget moments[J].IEEE Transactions on Aerospace and Electronic Systems,2003,39(4):1152-1178.
[4]王慧斌,陈哲,王鑫,等.基于随机有限集的UPF-CPHD多目标跟踪[J].通信学报,2012,33(12):147-153.WANG H B,CHEN Z,WANG X,et al.Random finite sets based UPF-CPHD multi-object tracking[J].Journal on Communications,2012,33(12):147-153.
[5]VO B T,VO B N,CANTONI A.The cardinality balanced multitarget multi-Bernoulli filter and its implementations[J].IEEE Transactions on Signal Processing,2009,57(2):409-423.
[6]GUISEPPE P,PAOLO B,STEVEN H.Multisensor adaptive Bayesian tracking under time-varying target detection probability[J].IEEETransactions on Aerospace and Electronic Systems,2016,52(5):2193-2209.
[7]LIAN F,HAN C,LIU W.Estimating an unknown clutter intensity with finite mixture models for the probability hypothesis density filter[J].IEEE Transactions on Aerospace and Electronic Systems,2010,46(4):2066-2078.
[8]CHEN X,THARMARASA R,PELLERTIER M,et al.Integrated clutter estimation and target tracking using poisson point processes[J].IEEE Transactions on Aerospace and Electronic Systems.,2012,48(2):1210-1235.
[9]CHEN X,THARMARASA R,KIRUBARAJAN T,et al.Online clutter estimation using a gaussian kernel density estimator for multitarget tracking[J].IET Radar,Sonar and Navigation,2015,9(1):1-9.
[10]LIU W,CUI H,WEN C.A time-varying clutter intensity estimation algorithm by using Gibbs sampler and BIC[C]//International Conference on Information Fusion.2016:978-985.
[11]MAHLER R,VO B T,VO B N.CPHD filtering with unknown clutter rate and detection profile[J].IEEE Transactions on Signal Processing,2011,59(8):3497-3513.
[12]BEARD M,VO B T,VO B N.Multi-target filtering with unknown clutter density using a bootstrap GMCPHD filter[J].IEEE Signal Processing Letters,2013,20(4):323-326.
[13]VO B T,VO B N,HOSEINNEZHAD R,et al.Robust multi-Bernoulli filtering[J].IEEE Journal of Selected Topics Signal in Signal Processing,2013,7(3):399-409.
[14]GOSTAR A,HOSEINNEZHAD R,BAB-HADIASHAR A.Multi-Bernoulli sensor-selection for multi-target tracking with unknown clutter and detection profiles[M].Elsevier North-Holland,Inc,2016.
[15]REZATOFIGHI S,GOULD S,Vo B T.Multi-target tracking with time-varying clutter rate and detection profile:application to time-lapse cell microscopy sequences[J].IEEE Transactions on Medical Imaging,2015,34(6):1336-1348.
[16]DU Y K,JEON M.Robust multi-Bernoulli filtering for visual tracking[C]//International Conference on Control,Automation and Information Sciences.2015:47-51.
[17]冯新喜,魏帅,王泉,等.鲁棒标签多伯努利机动目标跟踪算法[J].华中科技大学学报(自然科学版),2018,46(2):56-60.FENG X X,WEI S,WANG Q,et al.Robust labeled multi-Bernoulli filter for maneuvering target tracking[J].Journal of Huazhong University of Science&Technology(Natural Science Edition),2018,46(2):56-60.
[18]李淼,龙云利,李骏,等.采用多伯努利滤波器的过采样点目标检测前跟踪[J].光学精密工程,2015,23(12):3446-3455.LI M,LONG Y L,LI J,et al.Oversampling point target track-before-detect by multi-Bernoulli filter[J].Optics and Precision Engineering,2015,23(12):3446-3455.
[19]李翠芸,李宁,姬红兵.多伯努利滤波的快速红外弱小目标检测与跟踪[J].西安电子科技大学学报,2016,43(4):69-74.LI C Y,LI N,JI H B.Fast IR dim small targets detection and tracking based on the Multi-Bernoulli filter[J].Journal of Xidian University,2016,43(4):69-74.
[20]LERRO D,BAR-SHALOM Y.Automated tracking with target amplitude information[C]//American Control Conference.1990:2875-2880.
[21]LERRO D,BAR-SHALOM Y.Interacting multiple model tracking with target amplitude feature[J].IEEE Transactions on Aerospace and Electronic Systems,1993,29(2):494-509.
[22]EHRMAN L M,BLAIR W D.Using target RCS when tracking multiple rayleigh targets[J].IEEE Transactions on Aerospace and Electronic Systems.2010,46(2):701-716.
[23]BREKKE E,HALLINGSTAD O,GLATTETRE J.Tracking small targets in heavy-tailed clutter using amplitude information[J].IEEEJournal of Oceanic Engineering,2010,35(2):314-329.
[24]BREKKE E,HALLINGSTAD O,GLATTETRE J.The modified riccati equation for amplitude-aided target tracking in heavy-tailed clutter[J].IEEE Transactions on Aerospace and Electronic Systems,2011,47(4):2874-2886.
[25]CLARK D,RISTIC B,VO B N,et al.PHD Filtering with target amplitude feature[C]//International Conference on Information Fusion.2008:1-7.
[26]CLARK D,RISTIC B,Vo B N,et al.Bayesian multi-object filtering with amplitude feature likelihood for unknown object SNR[J].IEEETransactions on Signal Processing,2010,58(1):26-37.
[27]LI S,KONG L,YI W,et al.PHD filter with amplitude information in Weibull clutter[C]//IEEE Radar Conference.2013:1-6.
[28]袁常顺,王俊,孙进平,等.一种幅度信息辅助多伯努利滤波算法[J].电子与信息学报,2016,38(2):464-471.YUAN C S,WANG J,SUN J P,et al.A multi-Bernoulli filtering algorithm using amplitude information[J].Journal of Electronics and Information Technology,2016,38(2):464-471.
[29]YUAN C S,WANG J,PENG L,et al.Multi-target tracking based on multi-Bernoulli filter with amplitude for unknown clutter rate[J].Sensors,2015,15(12):30385-30402.
[30]刘恒燕,宋杰,熊伟,等.大入射余角海杂波相关特性分析及幅度拟合[J].海军航空工程学院学报,2018,33(3):307-312.LIU H Y,SONG J,XIONG W,et al.Sea clutter correlation analysis and amplitude fitting for large grazing angle[J].Journal of Naval Aeronautical and Astronautical University,2018,33(3):307-312.
[31]SCHUHMACHER D,VO B T,VO B N.A consistent metric for performance evaluation of multi object Filters[J].IEEE Transactions on Signal Processing,2008,56(8):3447-3457.