基于交互式多模型扩展维特比容积卡尔曼滤波机场场面运动目标跟踪
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摘要
根据先进场面运动引导控制系统(advanced surface movement guidance and control system,A-SMGCS)的监视要求,提出一种基于交互式多模型扩展维特比算法(interactive multi-model extended viterbi algorithm,IMMEV)与容积卡尔曼滤波(CKF)相结合的目标跟踪算法,以实现机场场面目标的跟踪。根据机场场面运动目标的运动建立相应的运动模型集,采用交互式多模型算法(IMM)实现目标跟踪;模型集中过多的模型会导致运算复杂性增加,且不能真实反映目标的运动,采用扩展维特比(extended viterbi,EV)算法对IMM进行优化,简化模型集;容积卡尔曼滤波器(cubature Kalman filter,CKF)较传统的滤波算法具有更高的滤波精度和稳定性,将其与IMMEV相结合形成IMMEV-CKF跟踪算法。为了验证所提出的IMMEV-CKF对场面运动目标跟踪性能,仿真研究IMMEV-CKF算法、IMM-UKF和当前统计模型对同一目标的跟踪。仿真结果表明,IMMEVCKF在跟踪精度性能方面要优于IMM-UKF和改进后的当前统计模型。因此,IMMEV-CKF更能满足机场场面运动目标跟踪要求。
According to advanced surface movement guidance and control system (A-SMGCS),a target tracking algorithm based on interactive multi-model extended viterbi algorithm (IMMEV) combined with cubature Kalman filter (CKF) to achieve airport surface maneuvering target tracking was proposed. The corresponding model sets according to the motion of the airport scene moving target was established,and the interactive multi-model algorithm (IMM) was used to achieve the target tracking. If the model sets included too many models,the computational complexity Would increase,and the maneuvering target couldn't be truly reflected. The IMM was optimized and the model sets were simptified by using the extended viterbi (EV) algorithm. The cubature Kalman filter (CKF) had higher accuracy and stability than the traditional filtering algorithm,and it was combined with IMMEV to form IMMEV-CKF algorithm. In order to verify the performance of proposed IMMEV-CKF algorithm,the IMMEV-CKF,IMM-UKF and current statistical model algorithm were used to track the same target. The simulation results show that IMMEV-CKF is superior to IMM-UKF and the improved current statistical model in tracking accuracy performance. Therefore,the IMMEV-CKF proposed in this paper can better meet the requirements of airport surface maneuvering target tracking.
According to advanced surface movement guidance and control system (A-SMGCS),a target tracking algorithm based on interactive multi-model extended viterbi algorithm (IMMEV) combined with cubature Kalman filter (CKF) to achieve airport surface maneuvering target tracking was proposed. The corresponding model sets according to the motion of the airport scene moving target was established,and the interactive multi-model algorithm (IMM) was used to achieve the target tracking. If the model sets included too many models,the computational complexity Would increase,and the maneuvering target couldn't be truly reflected. The IMM was optimized and the model sets were simptified by using the extended viterbi (EV) algorithm. The cubature Kalman filter (CKF) had higher accuracy and stability than the traditional filtering algorithm,and it was combined with IMMEV to form IMMEV-CKF algorithm. In order to verify the performance of proposed IMMEV-CKF algorithm,the IMMEV-CKF,IMM-UKF and current statistical model algorithm were used to track the same target. The simulation results show that IMMEV-CKF is superior to IMM-UKF and the improved current statistical model in tracking accuracy performance. Therefore,the IMMEV-CKF proposed in this paper can better meet the requirements of airport surface maneuvering target tracking.
引文
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10秦康,董新民,陈勇,等.基于正交变换的改进CKF算法[J].控制与决策,2018,33(2):330-336Qin Kang,Dong Xinmin,Chen Yong,et al.Modified CKF algorithm based on orthogonal transformation[J].Control and Decision,2018,33(2):330-336
11许登荣,程水英,包守亮.基于IMM-CKF的弹道再入目标跟踪研究[J].弹箭与制导学报,2017,37(1):13-18Xu Dengrong,Cheng Shuiying,Bao Shouliang.Research on ballistic reentry target tracking based on IMM-CKF[J].Journal of Projectiles Rockets Missiles and Guidance,2017,37(1):13-18
12贾飞飞.非线性滤波算法及其应用研究[D].成都:电子科技大学,2015Jia Feifei.Nonlinear filtering algorithm and its application research[D].Chengdu:University of Electronic Science and Technology,2015
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14钱华明,陈亮,满国晶,等.基于当前统计模型的机动目标自适应跟踪算法[J].系统工程与电子技术,2011,33(10):2154-2158Qian Huaming,Chen Liang,Man Guojing,et al.Adaptive tracking algorithm for maneuvering target based on current statistical model[J].Systems Engineering and Electronics,2011,33(10):2154-2158
2宫淑丽,王帮峰,吴红兰,等.基于IMM算法的机场场面运动目标跟踪[J].系统工程与电子技术,2011,33(10):2322-2326Gong Shuli,Wang Bangfeng,Wu Honglan,et al.Tracking of moving targets on airport surface based on IMM algorithm[J].Systems Engineering and Electronics,2011,33(10):2322-2326
3 ICAO.Advanced surface movement guidance and control systems manual:ICAO-9830[R].US:ICAO,2004
4宫淑丽,陶诚,王帮峰,等.基于VS-IMM算法的A-SMGCS场面运动目标跟踪[J].南京航空航天大学学报,2012,44(1):118-123Gong Shuli,Tao Cheng,Wang Bangfeng,et al.Maneuvering target tracking on airport surface for A-SMGCS based on VS-IMMalgorithm[J].Journal of Nanjing University of Aeronautics&Astronautics,2012,44(1):118-123
5李敏.机场场面移动目标监视和避撞技术研究[D].南京:南京航空航天大学,2013Li Min.Technical research of surveillance and collision avoidance for moving targets at the airport surface[D].Nanjing:Nanjing University of Aeronautics and Astronautics,2013
6王法胜,鲁明羽,赵清杰,等.粒子滤波算法[J].计算机学报,2014,37(8):1679-1694Wang Fasheng,Lu Mingyu,Zhao Qingjie,et al.Particle filter algorithm[J].Chinese Journal of Computers,2014,37(8):1679-1694
7 Arasaratnam I,Haykin S.Cubature Kalman filters[J].IEEE Transaction on Automatic Control,2009,54(6):1254-1269
8郝燕玲,杨峻巍,陈亮,等.平方根容积卡尔曼滤波器[J].弹箭与制导学报,2012,32(2):169-172Hao Yanling,Yang Junwei,Chen Liang,et al.Square root cubature Kalman filter[J].Journal of Projectiles,Rockets,Missiles and Guidance,2012,32(2):169-172
9 Wang C C,Wu P L,Deng Y H.Modified iterated square-root cubature Kalman filter for non-cooperative space target tracking[J].International Journal of Engineering and Applied Sciences,2015,2(11):2394-3661
10秦康,董新民,陈勇,等.基于正交变换的改进CKF算法[J].控制与决策,2018,33(2):330-336Qin Kang,Dong Xinmin,Chen Yong,et al.Modified CKF algorithm based on orthogonal transformation[J].Control and Decision,2018,33(2):330-336
11许登荣,程水英,包守亮.基于IMM-CKF的弹道再入目标跟踪研究[J].弹箭与制导学报,2017,37(1):13-18Xu Dengrong,Cheng Shuiying,Bao Shouliang.Research on ballistic reentry target tracking based on IMM-CKF[J].Journal of Projectiles Rockets Missiles and Guidance,2017,37(1):13-18
12贾飞飞.非线性滤波算法及其应用研究[D].成都:电子科技大学,2015Jia Feifei.Nonlinear filtering algorithm and its application research[D].Chengdu:University of Electronic Science and Technology,2015
13 Li X R.Multiple-model estimation with variable structure some theoretical consideration[C]//IEEE Conference on Decision and Control.New York:IEEE,1994:1199-1204
14钱华明,陈亮,满国晶,等.基于当前统计模型的机动目标自适应跟踪算法[J].系统工程与电子技术,2011,33(10):2154-2158Qian Huaming,Chen Liang,Man Guojing,et al.Adaptive tracking algorithm for maneuvering target based on current statistical model[J].Systems Engineering and Electronics,2011,33(10):2154-2158