一种自适应交互式多模型的机动目标跟踪方法

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	一种自适应交互式多模型的机动目标跟踪方法
	杜劲松; 毕欣; 高洁; 田星
	2014-06-11
专利国别	中国
专利号	CN103853908A
专利类型	发明
产权排序	1
权利人	中国科学院沈阳自动化研究所
其他题名	Self-adapting interactive multiple model mobile target tracking method
中文摘要	本发明涉及在交通运输领域中车辆目标的机动跟踪。建立各模型混合初始化输入包括各模型的混合初始条件和混合初始状态的协方差矩阵；建立匀速（CV）和匀加速（CA）运动模型；更新是指根据Kalman滤波方程计算误差的协方差矩阵和新息；利用Kalman滤波结果中的新息构造目标运动模型的似然函数，计算马尔可夫状态转移概率矩阵；利用马尔可夫状态转移概率矩阵作为各运动模型之间切换的加权进行融合后的估计输出。本发明解决了传统的交互式多模型算法中存在的由于目标发生机动导致滤波模型与目标运动模型不匹配造成的误差增大或者失跟的问题，具有计算复杂度小，跟踪效果好的优点，可用于交通运输领域机动车的目标跟踪。
是否PCT专利	否
英文摘要	The invention relates to mobile tracking of vehicle targets in the communication and transportation field. A self-adapting interactive multiple model mobile target tracking method comprises the following steps of establishing mixed initialized input. including a covariance matrix of a mixed initial condition and a mixed initial state. of each model; establishing constant velocity (CV) and constant acceleration (CA) motion models; updating: calculating covariance matrix and innovation of an error according to a Kalman filter formulation; constructing a likelihood function of a target motion module by utilizing the innovation of a Kalman filter result, and calculating a Markov state transition probability matrix; carrying out estimation output after being fused by utilizing the Markov state transition probability matrix as weight of switch among each motion model. According to the self-adapting interacting multiple model mobile target tracking method disclosed by the invention, the problem that the error is increased or the tracking is failed caused by non-matching of a filter model and a target motion model due to the motion of a target in the traditional interactive multiple model algorithm is solved; the self-adapting interacting multiple model mobile target tracking method has the advantages of low calculation complexity and good tracking effect, and can be applied to target tracking of motor vehicles in the communication and transportation field.
申请日期	2012-12-04
语种	中文
专利申请号	CN201210514479.1
专利代理	沈阳科苑专利商标代理有限公司 21002
内容类型	专利
源URL	[http://ir.sia.cn/handle/173321/14917]
专题	沈阳自动化研究所_智能检测与装备研究室
推荐引用方式 GB/T 7714	杜劲松,毕欣,高洁,等. 一种自适应交互式多模型的机动目标跟踪方法. CN103853908A. 2014-06-11.