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| 1 | 时间偏差校准分布式多传感器多目标跟踪算法显示文摘由于信号处理、量测采集延时等原因,导致多传感器系统中存在量测时间戳不准确,即量测时间偏差。针对量测存在时间偏差的分布式多传感器系统,提出一种时间偏差校准分布式多传感器多目标跟踪算法。在局部处理器,针对传感器量测存在虚警和漏检的情况,基于联合概率数据关联(JPDA)和扩展卡尔曼滤波(EKF)算法进行多目标跟踪,估计出存在时间偏差的局部航迹。在全局处理器,针对局部航迹时间偏差导致全局航迹精度下降的问题,首先,采用逆卡尔曼滤波基于局部航迹构造等效量测,针对匀速直线运动目标,推导出相对时间偏差伪量测方程并给出计算方法;然后,提出一种基于伪量测的相对时间偏差估计算法,采用递推最小二乘估计与卡尔曼滤波在空域及时域实现了相对时间偏差的联合估计;最后,设计一个时间偏差校准分布式多传感器多目标跟踪架构,联合进行时变时间偏差估计与补偿、“等效量测-全局航迹”关联和全局航迹更新。虚警和漏检下的多传感器多目标跟踪仿真结果表明:量测存在时间偏差情况下,所提算法可以有效提高融合后的全局航迹精度。 | 李松 程咏梅 王会宾 高仕博 | 2020 | 西北工业大学学报2020，38，4： | 4 |
| 2 | A Track Initiation Method for the Underwater Target Tracking Environment显示文摘A novel efficient track initiation method is proposed for the harsh underwater target tracking environment(heavy clutter and large measurement errors): track splitting, evaluating, pruning and merging method(TSEPM). Track initiation demands that the method should determine the existence and initial state of a target quickly and correctly.Heavy clutter and large measurement errors certainly pose additional difficulties and challenges, which deteriorate and complicate the track initiation in the harsh underwater target tracking environment. There are three primary shortcomings for the current track initiation methods to initialize a target:(a) they cannot eliminate the turbulences of clutter effectively;(b) there may be a high false alarm probability and low detection probability of a track;(c) they cannot estimate the initial state for a new confirmed track correctly. Based on the multiple hypotheses tracking principle and modified logic-based track initiation method, in order to increase the detection probability of a track,track splitting creates a large number of tracks which include the true track originated from the target. And in order to decrease the false alarm probability, based on the evaluation mechanism, track pruning and track merging are proposed to reduce the false tracks. TSEPM method can deal with the track initiation problems derived from heavy clutter and large measurement errors, determine the target's existence and estimate its initial state with the least squares method. What's more, our method is fully automatic and does not require any kind manual input for initializing and tuning any parameter. Simulation results indicate that our new method improves significantly the performance of the track initiation in the harsh underwater target tracking environment. | LI Dong-dong LIN Yang ZHANG Yao | 2018 | China Ocean Engineering2018，32，2： | 1 |
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