变维自适应交互式多模型跟踪算法
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摘要
针对传统的交互式多模型(IMM)算法通常采用相同维数的模型进行滤波,存在较大的模型误差以及当前统计模型(CS)中的参数需要合理设定的问题,提出一种变维自适应交互式多模型(AIMM)跟踪算法。该算法首先利用维数变换,将不同维数的模型转换为统一的维数进行交互滤波,使之适用于一般的机动目标,减少模型跟踪误差;然后通过引入由残差信息定义的调整因子对CS模型中的参数自适应调整,提高模型与实际运动模式的匹配程度;最后将参数调整后的CS模型反馈到变维IMM算法中,来改善跟踪性能。仿真实验表明,与传统变维IMM算法相比,文中所提算法在有效跟踪机动目标的同时,提高了目标的跟踪精度。
The traditional IMM filtering algorithm with model of the same dimension has the problem of a relatively large error,and it is difficult for Current Statistical( CS) model to set reasonable parameters. To solve the problems,we proposed a variable dimension adaptive IMM algorithm( AIMM) for tracking a maneuvering target. The algorithm firstly makes dimension variation processing to make the model with unified dimension,which is applicable to common maneuvering target,and can reduce the model tracking error. After that,the function based on residual information is used to adjust the CS model parameters,to improve the match degree between the model and the actual motion model. Finally,the improved CS mode is fed back to the variable dimension IMM for increasing tracking performance. The simulation results show that: Compared with the traditional variable dimension IMM algorithm,the proposed algorithm has higher tracking accuracy while keeping effective tracking on maneuvering target.
The traditional IMM filtering algorithm with model of the same dimension has the problem of a relatively large error,and it is difficult for Current Statistical( CS) model to set reasonable parameters. To solve the problems,we proposed a variable dimension adaptive IMM algorithm( AIMM) for tracking a maneuvering target. The algorithm firstly makes dimension variation processing to make the model with unified dimension,which is applicable to common maneuvering target,and can reduce the model tracking error. After that,the function based on residual information is used to adjust the CS model parameters,to improve the match degree between the model and the actual motion model. Finally,the improved CS mode is fed back to the variable dimension IMM for increasing tracking performance. The simulation results show that: Compared with the traditional variable dimension IMM algorithm,the proposed algorithm has higher tracking accuracy while keeping effective tracking on maneuvering target.
引文
[1]何友,修建娟,张晶炜,等.雷达数据处理及应用[M].北京:电子工业出版社,2009.(HE Y,XIU J J,ZHANG J W,et al.Radar data processing with application[M].Beijing:Electronic Industry Publishing House,2009.)
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[5]谭顺成,王国宏,王娜,等.改进的交互式当前统计模型算法[J].电光与控制,2011,18(4):22-25.(TAN S C,WANG G H,WANG N,et al.An improved interacting current statistical model algorithm[J].Electronics Optics&Control,2011,18(4):22-25.)
[6]LI X R,BAR-SHALOM Y.Multiple model estimation with variable structure[J].IEEE Transactions on Automatic Control,1996,41(4):478-493.
[7]周宏仁,敬忠良,王培德.机动目标跟踪[M].北京:国防工业出版社,1991.(ZHOU H R,JING Z L,WANG P D.Maneuvering target tracking[M].Beijing:National Defense Industry Publishing House,1991.)
[8]巴宏欣,赵宗贵,杨飞,等.机动目标的模糊自适应跟踪算法[J].系统仿真学报,2004,16(6):1181-1183.(BA H X,ZHAO Z G,YANG F,et al.Fuzzy adaptive tracking algorithm for maneuvering target[J].Journal of System Simulation,2004,16(6):1181-1183.)
[9]孙福明,吴秀清,祁凯.基于当前统计模型的自适应强跟踪算法[J].数据采集与处理,2008,23(2):191-195.(SUN F M,WU X Q,QI K.Adaptive strong tracking algorithm based on current statistical model[J].Journal of Data Acquisition&Processing,2008,23(2):191-195.)
[10]刘建书,李人厚,刘云龙.基于“当前”统计模型的交互式多模型算法[J].系统工程与电子技术,2008,30(7):1351-1354.(LIU J S,LI R H,LIU Y L.Interacting multiple model algorithm based on the current statistical model[J].Systems Engineering and Electronics,2008,30(7):1351-1354.)
[11]钱广华,李颖,骆荣剑.机动目标跟踪中一种机动频率和方差自适应滤波算法[J].雷达学报,2013,2(6):258-264.(QIAN G H,LI Y,LUO R J.One maneuvering frequency and the variance adaptive filtering algorithm for maneuvering target tracking[J].Journal of Radars,2013,2(6):258-264.)
[12]姜伟,吕泽均,蓝瑶.基于变维交互作用的IMM-CKF算法[J].计算机应用与软件,2013,30(5):4-6.JIANG W,LZ J,LAN Y.IMM-CKF algorithm based on variable dimension interaction[J].Computer Applications and Software,2013,30(5):4-6.)
[13]郑作虎,王首勇,万洋.一种参数自适应调整的机动目标跟踪模型[J].空军雷达学院学报,2011,2(4):113-116.(ZHENG Z H,WANG S Y,WAN Y.Model of maneuvering target track with adaptive parameter adjustment[J].Journal of Air Force Radar Academy,2011,2(4):113-116.)
[14]刘玉磊,冯新喜,叶杨,等.改进的“当前”统计模型自适应跟踪算法[J].科学技术与工程,2013,22(8):6464-6469.(LIU Y L,FENG X X,YE Y,et al.Improved current statistical model and adaptive tracking algorithm[J].Science Technology and Engineering,2013,22(8):6464-6469.
[2]BAR-SHALOM Y,FORTMANN T.Tracking and data association[M].San Diego:Academic Press,1988.
[3]BLOM H A P.An efficient filter for abruptly changing systems[C]//Proceedings of the 23rd Conference on Decision and Control,1984:656-658.
[4]钱琼芬,徐毓,金宏斌.变维交互作用多模型滤波方法[J].计算机测量与控制,2005,13(8):830-832.(QIAN Q F,XU Y,JIN H B.Interacting multiple model algorithm with variable dimension[J].Computer Automated Measurement&Control,2005,13(8):830-832.)
[5]谭顺成,王国宏,王娜,等.改进的交互式当前统计模型算法[J].电光与控制,2011,18(4):22-25.(TAN S C,WANG G H,WANG N,et al.An improved interacting current statistical model algorithm[J].Electronics Optics&Control,2011,18(4):22-25.)
[6]LI X R,BAR-SHALOM Y.Multiple model estimation with variable structure[J].IEEE Transactions on Automatic Control,1996,41(4):478-493.
[7]周宏仁,敬忠良,王培德.机动目标跟踪[M].北京:国防工业出版社,1991.(ZHOU H R,JING Z L,WANG P D.Maneuvering target tracking[M].Beijing:National Defense Industry Publishing House,1991.)
[8]巴宏欣,赵宗贵,杨飞,等.机动目标的模糊自适应跟踪算法[J].系统仿真学报,2004,16(6):1181-1183.(BA H X,ZHAO Z G,YANG F,et al.Fuzzy adaptive tracking algorithm for maneuvering target[J].Journal of System Simulation,2004,16(6):1181-1183.)
[9]孙福明,吴秀清,祁凯.基于当前统计模型的自适应强跟踪算法[J].数据采集与处理,2008,23(2):191-195.(SUN F M,WU X Q,QI K.Adaptive strong tracking algorithm based on current statistical model[J].Journal of Data Acquisition&Processing,2008,23(2):191-195.)
[10]刘建书,李人厚,刘云龙.基于“当前”统计模型的交互式多模型算法[J].系统工程与电子技术,2008,30(7):1351-1354.(LIU J S,LI R H,LIU Y L.Interacting multiple model algorithm based on the current statistical model[J].Systems Engineering and Electronics,2008,30(7):1351-1354.)
[11]钱广华,李颖,骆荣剑.机动目标跟踪中一种机动频率和方差自适应滤波算法[J].雷达学报,2013,2(6):258-264.(QIAN G H,LI Y,LUO R J.One maneuvering frequency and the variance adaptive filtering algorithm for maneuvering target tracking[J].Journal of Radars,2013,2(6):258-264.)
[12]姜伟,吕泽均,蓝瑶.基于变维交互作用的IMM-CKF算法[J].计算机应用与软件,2013,30(5):4-6.JIANG W,LZ J,LAN Y.IMM-CKF algorithm based on variable dimension interaction[J].Computer Applications and Software,2013,30(5):4-6.)
[13]郑作虎,王首勇,万洋.一种参数自适应调整的机动目标跟踪模型[J].空军雷达学院学报,2011,2(4):113-116.(ZHENG Z H,WANG S Y,WAN Y.Model of maneuvering target track with adaptive parameter adjustment[J].Journal of Air Force Radar Academy,2011,2(4):113-116.)
[14]刘玉磊,冯新喜,叶杨,等.改进的“当前”统计模型自适应跟踪算法[J].科学技术与工程,2013,22(8):6464-6469.(LIU Y L,FENG X X,YE Y,et al.Improved current statistical model and adaptive tracking algorithm[J].Science Technology and Engineering,2013,22(8):6464-6469.