第 39 卷第4 期 电子科技大学学报 Vo l .3 9 N o . 4
2010年7月 Journal of University of Electronic Science and Technology of China Jul. 2010
基于
S-D
分配的集中式多传感器不敏滤波算法
管旭军
1,2
,芮国胜
1
,周 旭
1
,张玉玲
2
(1. 海军航空工程学院电子信息工程系 山东 烟台 264001; 2. 海军湛江保障基地通信雷达声纳修理厂 广东 湛江 524009)
【摘要】研究了非线性环境中的集中式多传感器多目标跟踪问题,提出了一种基于
S-D
分配的集中式多传感器不敏滤波算
法。算法通过广义
S-D
分配技术实现每个传感器中的量测与目标的数据关联,求得所有可能互联中的最佳划分,然后按照顺序
多传感器联合概率数据互联算法,依次处理最佳划分中各传感器源于同一目标的量测,在此基础上通过不敏卡尔曼滤波
(UKF)
解决非线性系统中的目标跟踪问题。最后给出了该算法与
MSJPDA/EKF
算法的仿真比较,结果表明该算法具有更高的稳定性
和跟踪精度。
关键词多传感器多目标跟踪
;
非线性
;S-D
分配
;
不敏卡尔曼滤波
中图分类号
TN95
文献标识码
A doi:10.3969/j.issn.1001-0548.2010.04.014
Centralized Multisensor Unscented Filte
Al
orithm Based on S-D Assi
nment
GUAN Xu-jun
1,2
, RUI Guo-sheng
1
,ZhouXu
1
, and ZHANG Yu-ling
2
(1.Department of Electronic and Information Engineering, Naval Aeronautics and Astronautics University Yantai Shandong 264001;
2. Communication Radar and Sonar Maintenance Depot, Naval Zhanjiang Base Zhanjiang Guangdong 524009)
Abstract For the problem of multisensor-multitarget tracking in nonlinear system, a novel centralized
multisensor unscented filter algorithm based on S-D assignment, SD-CMSUKF, is proposed. In the new algorithm,
the association of measurements from each sensor to targets is first implemented according to the generalized S-D
assignment technique and the optimal partition can be achieved. Then in the optimal partition, the measurements
from the same target are dealt with sequentially in terms of the principle of sequential multisensor joint
probabilistic data association algorithm (MSJPDA). Based on these, UKF is used for the propagation of state
distribution in nonlinear system and the SD-CMSUKF algorithm is derived. Compared with the MSJPDA/EKF, the
accuracy and robustness of the proposed algorithm are improved. Simulation results show the superiority of the
new algorithm.
Key words multisensor multitarget tracking; nonlinearity; S-D assignment; UKF
收稿日期:
2009 02 13; 修回日期:2009 07 13
基金项目:国家自然科学基金(60572161)
作者简介:管旭军(1979 ),男,博士生,主要从事多目标跟踪、多传感器信息融合和自适应信号处理方面的研究.