A general cardinalized probability hypothesis density filter

Abstract

Abstract Based on random finite set, the probability hypothesis density (PHD) filter and the cardinalized PHD (CPHD) filter have been proposed for multitarget tracking as they are computational tractable. But the classical PHD and CPHD filter is not applicable when a target generates multiple detections. The general PHD filter was proposed to apply the PHD filter to arbitrary clutter and target measurement process. However, as a filter with better performance than the PHD filter, the CPHD filter for multiple-detection tracking is not proposed except the extended target CPHD filter and the multisensor CPHD filter. In our work, the general CPHD filter, which allows the clutter process and target measurement process to be arbitrary and performs better than the general PHD filter, is proposed. The proposed general CPHD filter is the general form of all kinds of CPHD filters, as well as all kinds of PHD filters and Bernoulli filters. In the simulation, the multiple-detection model of the over-the-horizon radar is used to demonstrate the tracking performance. The simulation results show that the proposed filter improves the accuracy of the state estimates and reduces the variance of the estimated number of targets.

Keywords

• Clutter process
• CPHD filter
• Measurement process
• Multitarget tracking (MTT)
• Random finite set (RFS)