CN102707278A - Multi-target tracking method for singular value decomposition - Google Patents
Multi-target tracking method for singular value decomposition Download PDFInfo
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- CN102707278A CN102707278A CN201210044944XA CN201210044944A CN102707278A CN 102707278 A CN102707278 A CN 102707278A CN 201210044944X A CN201210044944X A CN 201210044944XA CN 201210044944 A CN201210044944 A CN 201210044944A CN 102707278 A CN102707278 A CN 102707278A
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- 238000000034 method Methods 0.000 title claims abstract description 28
- 238000000354 decomposition reaction Methods 0.000 title claims abstract description 13
- 239000011159 matrix material Substances 0.000 claims abstract description 25
- 238000005070 sampling Methods 0.000 claims description 5
- 238000011156 evaluation Methods 0.000 abstract 1
- 230000000087 stabilizing effect Effects 0.000 abstract 1
- 238000001914 filtration Methods 0.000 description 10
- 239000002245 particle Substances 0.000 description 7
- 238000005259 measurement Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
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Abstract
The invention discloses a multi-target tracking method for singular value decomposition. The multi-target tracking method is used for solving the technical problem that the conventional target tracking method is unstable in numerical value structure so as to cause target tracking loss in the radar tracking process. The technical scheme is that an evaluated error covariance matrix is subjected to singular value decomposition, a numerical value stabilizing structural model is established, two positive semi-definite matrixes in a covariance matrix without error evaluation are subtracted, and a symmetric matrix containing a negative eigenvalue is not generated in a word length limited processing system. The evaluated error covariance matrix is subjected to singular value decomposition, so that a multi-target tracking structural model with stable numerical value is established, the two positive semi-definite matrixes in an evaluated error covariance matrix are prevented from being subtracted, and numerical divergence is avoided in the word length limited processing system; and therefore, the reliability of the target tracking system is guaranteed, the target tracking loss in the radar tracking process and the whole radar system error are avoided.
Description
Technical field
The present invention relates to a kind of Radar Multi Target tracking, particularly a kind of multi-object tracking method of svd belongs to areas of information technology.
Background technology
The multiple target tracking technology all is widely used at military and civil area, can be used for aerial target and detects, follows the tracks of and attack, Air Missile defence, air traffic control, harbour and marine surveillance etc.In recent years, along with the change of battlefield surroundings, the development of antagonism and the anti-technology of opposition has produced a series of problems such as the strong clutter of background, low signal-to-noise ratio, low detection probability and high false alarm rate, and the precision and the accuracy of multi-object tracking method are had higher requirement.
The purpose of multiple target tracking is the corresponding different information source of measurement that detector is received, forms different observation set or track, estimates the number of tracked target and the kinematic parameter of each target according to track, realizes the tracking to a plurality of targets.The basic filtering method that is used for the multiple goal state estimation has that alpha-beta filtering, alpha-beta-γ filtering, Kalman filtering, EKF, gaussian sum are approximate, optimum nonlinear filtering, particle filter and auto adapted filtering etc.Alpha-beta and alpha-beta-γ wave filter is because simple in structure, and calculated amount is little, uses very wide when computer resource is short in early days.Kalman filtering is a kind of basic skills of multiple target tracking, but need know the mathematical models of system, and only is applicable to linear system, has limited algorithm application.EKF expands to non-linear field with kalman filtering theory, is similar to the conditional probability distribution of state with a Gaussian distribution; And when approximate condition did not satisfy, the gaussian sum wave filter then was similar to the conditional probability distribution of state with the weighted sum of a Gaussian distribution.Optimum nonlinear filtering uses the Makov transition probability to describe the dynamic process of target, have good characteristic, but calculated amount is bigger, therefore never is used widely.Particle filter adopts stochastic sampling, because calculated amount is too big and the particle degenerate problem, is not suitable for practical application.In order to improve particle filter, Unscented kalman filtering adopts the determinacy sampling, makes sampled particle point number reduce, and avoided the particle point degenerate problem in the particle filter, so its application is very wide.Adaptive filter method is adjusted the state of filter parameter or increase wave filter in real time through the detection to target maneuver, makes wave filter adapt to target travel in real time, is particularly suitable for the tracking to maneuvering target; At present; Actual radar tracking system the most frequently used still be JPDA (Joint Probabilistic Data Association, JPDA) method (James A.Roecker, A Class of Near Optimal JPDA Algorithms; IEEE TRANSACTIONS ONAEROSPACE AND ELECTRONIC SYSTEMS; 1994, VOL.30 (2): 504-51O), other method great majority are to simplification of JPDA method etc.Yet, there are two positive semidefinite matrixs to subtract each other in the variance battle array that method errors such as JPDA are estimated, in the disposal system of limited wordlength, can produce the symmetric matrix that contains positive and negative eigenwert, cause the radar tracking enabling objective to lose and follow and whole radar property mistake.
Summary of the invention
Cause the radar tracking enabling objective to lose the technological deficiency of following in order to solve existing method for tracking target value structure instability; The present invention provides a kind of multi-object tracking method of svd; During this method was upgraded with measurement in the time of multiple target tracking; Through svd to the estimation error variance battle array, set up the numerical stability structural model, not having has two positive semidefinite matrixs to subtract each other in the variance battle array of estimation of error; In the disposal system of limited wordlength, can guarantee can not produce the symmetric matrix that contains negative eigenwert, can avoid the radar tracking enabling objective to lose and follow and whole radar property mistake.
The present invention solves the technical scheme that its technical matters adopts, a kind of multi-object tracking method of svd, and its characteristic may further comprise the steps:
1, the discretization model of i target does in N target following of definition
x
i(k+1)=Φ(k+1,k)x
i(k)+Λω
i(k),
Wherein:
Be state vector, (x, y z) are the position coordinates of target under the ground reference rectangular coordinate system, ω
i(k) the expression variance is Q
i(k) process noise vector, and Φ (k+1, k)=Φ=diag [Φ
1, Φ
1, Φ
1] be state-transition matrix,
Γ (t) is a matrix of coefficients,
Γ
1=[0 0 1]
T,
T is the sampling period;
The time of i target is updated to:
x
i(k/k-1)=Φx
i(k-1/k-1)
Obtain through calling singular value decomposition algorithm
Wherein: x
i(k/k-1) be that i target is at kT one-step prediction value constantly, V (k/k-1) D (k/k-1) V
T(k/k-1) be the variance battle array of the one-step prediction error of correspondence,
V
i(k/k-1) be orthogonal matrix, D
i(k/k-1) be diagonal matrix; Starting condition is x
i(0/0) and
2, i target observation equation is: z
i(k)=g
i[x
i(k)]+v
i(k)
Wherein: z
i(k) be to the r of i target dimension observation vector, g
i[x
i(k)] be corresponding output, v
i(k) the expression variance is R
i(k) measure noise, obtain through calling singular value decomposition algorithm
Wherein:
Be orthogonal matrix,
Be diagonal matrix; z
Ij(k) be radar to the j of i target (j=1,2 ..., m) individual echo, x
i(k/k) be i target kT filter value constantly, λ
Ij(k) be weight coefficient, and:
3, i Tracking Estimation method is: obtain through calling singular value decomposition algorithm
Wherein:
Δ
I, j(k) be j candidate's echo information vector,
Δ
i,j(k)=z
i,j(k)-g
i[x
i(k/k-1)]。
Useful result of the present invention is: through the estimation error variance battle array being carried out three times svd; Set up the multiple target tracking structural model of numerical stability; Avoided that two positive semidefinite matrixs subtract each other in the variance battle array of estimation of error; Numerical value in the disposal system of limited wordlength, can not occur and disperse, thereby guarantee the reliability of multi-object tracking method, avoided the radar tracking enabling objective lose with whole radar property mistake.
Below in conjunction with instance the present invention is elaborated.
Embodiment
1, the discretization model of i target does in N target following of definition
x
i(k+1)=Φ(k+1,k)x
i(k)+Λω
i(k),
Wherein:
Be state vector, (x, y z) are the position coordinates of target under the ground reference rectangular coordinate system, ω
i(k) the expression variance is Q
i(k) process noise vector, and Φ (k+1, k)=Φ=diag [Φ
1, Φ
1, Φ
1] be state-transition matrix,
Γ (t) is a matrix of coefficients,
Γ
1=[0 0 1]
T,
T is the sampling period;
The time of i target is updated to:
x
i(k/k-1)=Φx
i(k-1/k-1)
Obtain through calling singular value decomposition algorithm
Wherein: x
i(k/k-1) be that i target is at kT one-step prediction value constantly, V (k/k-1) D (k/k-1) V
T(k/k-1) be the variance battle array of the one-step prediction error of correspondence,
V
i(k/k-1) be orthogonal matrix, D
i(k/k-1) be diagonal matrix; Starting condition is x
i(0/0) and
2, i target observation equation is: z
i(k)=g
i[x
i(k)]+v
i(k)
Wherein: z
i(k) be to the r of i target dimension observation vector, g
i[x
i(k)] be corresponding output, v
i(k) the expression variance is R
i(k) measure noise, obtain through calling singular value decomposition algorithm
Wherein:
Be orthogonal matrix,
Be diagonal matrix; z
Ij(k) be radar to the j of i target (j=1,2 ..., m) individual echo, x
i(k/k) be i target kT filter value constantly, λ
Ij(k) be weight coefficient, and:
For example get g
i[x
i(k)]=[r
i(k) α
i(k) β
i(k)]
T, r
iBe radar energy measurement oblique distance, α
iBe angular altitude, β
iThe position angle, and
3, i Tracking Estimation method is: obtain through calling singular value decomposition algorithm
Wherein:
Δ
I, j(k) be j candidate's echo information vector, Δ
I, j(k)=z
I, j(k)-g
i[x
i(k/k-1)].
Claims (1)
1. the multi-object tracking method of a svd is characterized in that may further comprise the steps:
(1), the discretization model of i target does in N target following of definition
x
i(k+1)=Φ(k+1,k)x
i(k)+Λω
i(k),
Wherein:
Be state vector, (x, y z) are the position coordinates of target under the ground reference rectangular coordinate system, ω
i(k) the expression variance is Q
i(k) process noise vector, and Φ (k+1, k)=Φ=diag [Φ
1, Φ
1, Φ
1] be state-transition matrix,
Γ (t) is a matrix of coefficients,
Γ
1=[0 0 1]
T,
T is the sampling period;
The time of i target is updated to:
x
i(k/k-1)=Φx
i(k-1/k-1)
Obtain through calling singular value decomposition algorithm
Wherein: x
i(k/k-1) be that i target is at kT one-step prediction value constantly, V (k/k-1) D (k/k-1) V
T(k/k-1) be the variance battle array of the one-step prediction error of correspondence,
V
i(k/k-1) be orthogonal matrix, D
i(k/k-1) be diagonal matrix; Starting condition is x
i(0/0) and
(2), i target observation equation is: z
i(k)=g
i[x
i(k)]+v
i(k)
Wherein: z
i(k) be to the r of i target dimension observation vector, g
i[x
i(k)] be corresponding output, v
i(k) the expression variance is R
i(k) measure noise, obtain through calling singular value decomposition algorithm
Wherein:
Be orthogonal matrix,
Be diagonal matrix; z
Ij(k) be radar to the j of i target (j=1,2 ..., m) individual echo, x
i(k/k) be i target kT filter value constantly, λ
Ij(k) be weight coefficient, and:
(3), i Tracking Estimation method is: obtain through calling singular value decomposition algorithm
Wherein:
Δ
I, j(k) be j candidate's echo information vector,
Δ
i,j(k)=z
i,j(k)-g
i[x
i(k/k-1)]。
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Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN104793201A (en) * | 2015-05-04 | 2015-07-22 | 哈尔滨工业大学 | Modified variable-structure grid interaction multi-model filtering method for tracking hypersonic-speed target of near space |
CN106872970A (en) * | 2017-03-07 | 2017-06-20 | 中国电子科技集团公司第三十八研究所 | A kind of multiple target based on differential evolution becomes data transfer rate tracks of device and its method |
Citations (4)
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JPH10142325A (en) * | 1996-11-07 | 1998-05-29 | Mitsubishi Electric Corp | Method and system for tracking multiple targets |
US5798942A (en) * | 1994-04-05 | 1998-08-25 | Trw Inc. | N-best feasible hypotheses multitarget tracking system for space-based early warning systems |
CN101697007A (en) * | 2008-11-28 | 2010-04-21 | 北京航空航天大学 | Radar image-based flyer target identifying and tracking method |
CN101770024A (en) * | 2010-01-25 | 2010-07-07 | 上海交通大学 | Multi-target tracking method |
-
2012
- 2012-02-27 CN CN201210044944.XA patent/CN102707278B/en not_active Expired - Fee Related
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5798942A (en) * | 1994-04-05 | 1998-08-25 | Trw Inc. | N-best feasible hypotheses multitarget tracking system for space-based early warning systems |
JPH10142325A (en) * | 1996-11-07 | 1998-05-29 | Mitsubishi Electric Corp | Method and system for tracking multiple targets |
CN101697007A (en) * | 2008-11-28 | 2010-04-21 | 北京航空航天大学 | Radar image-based flyer target identifying and tracking method |
CN101770024A (en) * | 2010-01-25 | 2010-07-07 | 上海交通大学 | Multi-target tracking method |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN104793201A (en) * | 2015-05-04 | 2015-07-22 | 哈尔滨工业大学 | Modified variable-structure grid interaction multi-model filtering method for tracking hypersonic-speed target of near space |
CN104793201B (en) * | 2015-05-04 | 2018-04-24 | 哈尔滨工业大学 | A kind of amendment structure changes grid Interactive Multiple-Model filtering method for tracking the hypersonic target of near space |
CN106872970A (en) * | 2017-03-07 | 2017-06-20 | 中国电子科技集团公司第三十八研究所 | A kind of multiple target based on differential evolution becomes data transfer rate tracks of device and its method |
CN106872970B (en) * | 2017-03-07 | 2019-10-18 | 中国电子科技集团公司第三十八研究所 | A kind of multiple target change data transfer rate tracking device and its method based on differential evolution |
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