Liu Zong-Xiang, Wu De-Hui, Xie Wei-Xin, Li Liang-Qun
College of Information Engineering, Shenzhen University, Shenzhen 518060, China.
Sensors (Basel). 2017 Feb 15;17(2):373. doi: 10.3390/s17020373.
Tracking the target that maneuvers at a variable turn rate is a challenging problem. The traditional solution for this problem is the use of the switching multiple models technique, which includes several dynamic models with different turn rates for matching the motion mode of the target at each point in time. However, the actual motion mode of a target at any time may be different from all of the dynamic models, because these models are usually limited. To address this problem, we establish a formula for estimating the turn rate of a maneuvering target. By applying the estimation method of the turn rate to the multi-target Bayes (MB) filter, we develop a MB filter with an adaptive estimation of the turn rate, in order to track multiple maneuvering targets. Simulation results indicate that the MB filter with an adaptive estimation of the turn rate, is better than the existing filter at tracking the target that maneuvers at a variable turn rate.
跟踪以可变转弯速率机动的目标是一个具有挑战性的问题。针对该问题的传统解决方案是使用切换多模型技术，该技术包括几个具有不同转弯速率的动态模型，用于在每个时间点匹配目标的运动模式。然而，目标在任何时刻的实际运动模式可能与所有动态模型都不同，因为这些模型通常是有限的。为了解决这个问题，我们建立了一个用于估计机动目标转弯速率的公式。通过将转弯速率估计方法应用于多目标贝叶斯（MB）滤波器，我们开发了一种具有转弯速率自适应估计的MB滤波器，以跟踪多个机动目标。仿真结果表明，具有转弯速率自适应估计的MB滤波器在跟踪以可变转弯速率机动的目标方面比现有滤波器更好。
