杂波背景下基于概率假设密度的辅助粒子滤波检测前跟踪改进算法

裴家正; 黄勇; 董云龙; 何友; 陈小龙

doi:10.12000/JR18060

杂波背景下基于概率假设密度的辅助粒子滤波检测前跟踪改进算法

doi: 10.12000/JR18060

海军航空大学烟台 264001

基金项目: 国家自然科学基金(U1633122, 61871391, 61471382, 61531020, 61671462)，国防科技基金(2102024)，中国科协“青年人才托举工程”专项经费(YESS20160115)

详细信息

作者简介:
裴家正(1994–)，男，河南郑州人，海军航空大学博士研究生，主要研究方向为雷达弱小目标检测前跟踪。E-mail: roycerover@163.com

黄　勇(1979–)，男，湖南汨罗人，海军航空大学副教授，主要研究方向为MIMO雷达目标检测算法等。E-mail: huangyong_2003@163.com

董云龙(1974–)，男，天津宝坻人，海军航空大学副研究员，主要研究方向为雷达组网、多传感器信息融合。E-mail: china_dyl@sina.com

何　友(1956–)，男，吉林磐石人，中国工程院院士，主要研究方向为雷达子适应检测方法、多传感信息融合、多目标跟踪、分布检测理论及应用、系统仿真与作战模拟等。E-mail: heyouhjhy@126.com

陈小龙(1985–)，男，山东烟台人，海军航空大学副教授，主要研究方向为雷达动目标检测、海杂波抑制、雷达信号精细化处理等。E-mail: cxlcxl1203@163.com

通讯作者:
黄勇 huangyong_2003@163.com

中图分类号: TN953; TN957
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出版历程
- 收稿日期: 2018-08-23
- 修回日期: 2018-11-05
- 网络出版日期: 2019-06-01

Track-Before-Detect Algorithm Based on Improved Auxiliary Particle PHD Filter under Clutter Background

Naval Aviation University, Yantai 264001, China

Funds: The National Natural Science Foundation of China (U1633122, 61871391, 61471382, 61531020, 61671462), National Defense Science Foundation (2102024), Young Elite Scientist Sponsorship Program of CAST (YESS20160115)

More Information

Corresponding author: HUANG Yong, huangyong_2003@163.com

摘要

摘要: 在杂波背景条件下，现有的基于概率假设密度(PHD)滤波的粒子滤波检测前跟踪(TBD)算法，存在对密集多目标数目估计不准，使用粒子数目较多会造成维数灾难的问题。因此，该文引入两层粒子的概念，将基于平行分割(PP)理论的辅助粒子滤波(APF)应用于基于概率假设密度的检测前跟踪 (PHD-TBD)算法中，提出基于概率假设密度滤波的平行分割辅助粒子滤波检测前跟踪(APP-PF-PHD-TBD)算法以提高目标数目及状态估计精度。仿真实验证明，相对于现有基于PHD的粒子滤波检测前跟踪算法，该算法在目标数目和状态估计精度上具有显著的性能优势，在密集目标场景下，优势尤为突出。最后，利用导航雷达实测所得海杂波背景数据证明，该算法在应用中性能更加优异。
- 平行分割 /
- 辅助粒子滤波 /
- 概率假设密度 /
- 检测前跟踪 /
- 随机有限集
Abstract: Under the clutter background condition, the existing particle filter pre-detection tracking algorithm based on Probability Hypothesis Density (PHD) filtering is not accurate enough to estimate the number of targets in dense multi-objectives. In this study, the concept of two-layer particle is introduced. The Auxiliary Particle Filter (APF) based on Parallel Partition (PP) theory is applied to PHD-TBD. The Auxiliary Parallel Partition Particle Filter (which is based on APF and PP) Track-Before-Detect based on the Probability Hypothesis Density filter (APP-PF-PHD-TBD) algorithm is proposed to improve the target number and state estimation accuracy. The simulation results show that, compared with the existing PHD-filtering-based particle filter track-before-detect algorithm, the proposed algorithm has significant performance advantages in target number and state estimation accuracy. These advantages are particularly obvious in dense target scenarios. Finally, the sea clutter background data obtained using the navigation radar prove that the proposed algorithm outperforms the existing PHD-filtering-based particle filter track-before-detect algorithm in application.
- Parallel Partition (PP) /
- Auxiliary Particle Filter (APF) /
- Probability Hypothesis Density (PHD) /
- Track-Before-Detect (TBD) /
- Random Finite Set (RFS)

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图 2 实验1 8 dB时两种方法的目标数目检测性能对比

Figure 2. Exp.1 the performance of the two method in 8 dB

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图 1 实验1 9 dB时两种方法的目标数目检测性能对比

Figure 1. Exp.1 the performance of the two method in 9 dB

下载: 全尺寸图片幻灯片

图 3 实验1 6 dB时两种方法的目标数目检测性能对比

Figure 3. Exp.1 the performance of the two method in 6 dB

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图 5 实验2 8 dB时两种方法的目标数目检测性能对比

Figure 5. Exp.2 the performance of the two method in 8 dB

下载: 全尺寸图片幻灯片

图 4 实验2 9 dB时两种方法的目标数目检测性能对比

Figure 4. Exp.2 the performance of the two method in 9 dB

下载: 全尺寸图片幻灯片

图 6 实验2 6 dB时两种方法的目标数目检测性能对比

Figure 6. Exp.2 the performance of the two method in 6 dB

下载: 全尺寸图片幻灯片

图 7 加入目标后雷达第20帧扫描的数据信息

Figure 7. The data of the 20th scan after adding the targets

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图 8 实验3两种方法目标检测数目对比

Figure 8. The comparison of the detected targets number in Exp.3

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图 9 实验3两种方法位置估计精度对比

Figure 9. The comparison of the location accuracy in Exp. 3

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表 1 实验1中目标运动状态

Table 1. The state of the targets in Exp.1

目标	初始状态[m, m/s, m, m/s, rad/s, —]	出现帧	消失帧
1	[50, 20, 750, 0, 0, I]	5	36
2	[1250, 45, 1500, 25, 0, I]	12	28
3	[50, 75, 400, –40, 0, I]	12	30
4	[50, 60, 1900, –0.5, 0, I]	15	31
5	[50, 100, 1250, 0, 0, I]	16	33
6	[500, 90, 1000, 0.2, 0, I]	17	30

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表 2 实验2中目标运动状态

Table 2. The state of the targets in Exp.2

目标	初始状态[m, m/s, m, m/s, rad/s, —]	出现帧	消失帧
1	[50, 55, 750, 0, ${\text{π}}$/720, I]	5	36
2	[150, –75, 1250, –80, –${\text{π}}$/270, I]	12	28
3	[1600, –75, 400, 25, –${\text{π}}$/180, I]	12	30
4	[150, 0, 1000, –60, 0, I]	15	31
5	[500, 50, 1250, –50, ${\text{π}}$/360, I]	16	33
6	[500, –0.6, 600, 50, ${\text{π}}$/180, I]	17	30

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表 3 实验3中目标运动状态

Table 3. The state of the targets in Exp.3

目标	初始状态[m, m/s, m, m/s, —]	出现帧	消失帧
1	[2500, 8, 1050, 8, I]	5	36
2	[4000, –7, 4000, –7, I]	12	30
3	[2500, –5, 2250, –5, I]	16	33
4	[1200, 10, 2000, 10, I]	12	28

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表 4 实验1算法蒙特卡洛实验平均运行时间(s)

Table 4. The mean running time of per Monte Carlo experiment in Exp. 1 (s)

算法	单个目标粒子数	9 dB	8 dB	6 dB
PF-PHD-TBD	500	14.7771	18.4788	16.1523
PF-PHD-TBD	300	17.9281	16.9987	19.4703
APP-PF-PHD-TBD	500	29.5866	29.9445	27.9817
APP-PF-PHD-TBD	300	26.7950	21.5654	22.0255

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表 5 实验2算法蒙特卡洛实验平均运行时间(s)

Table 5. The mean running time of per Monte Carlo experiment in Exp. 2 (s)

算法	单个目标粒子数	9 dB	8 dB	6 dB
PF-PHD-TBD	500	11.5948	12.0970	9.1321
PF-PHD-TBD	300	9.5399	7.6792	8.4194
APP-PF-PHD-TBD	500	31.5074	32.7218	28.6130
APP-PF-PHD-TBD	300	30.5533	29.8249	26.3135

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表 6 实验3算法蒙特卡洛实验平均运行时间(s)

Table 6. The mean running time of per Monte Carlo experiment in Exp. 3 (s)

算法	运行时间
PF-PHD-TBD	25.3594
APP-PF-PHD-TBD	40.1553

下载: 导出CSV

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