Optimised multi-hypothesis tracking algorithm based on the two-dimensional constraints and manoeuvre detection

Abstract

With the increase of target mobility and environment complexity, highly reliable single-period statistical judgments become more and more difficult. The multiple hypothesis tracking (MHT) algorithm is a method based on delay logic, and can effectively solve the problem of data association in the course of tracking. However, the number of hypotheses generated by the MHT algorithm is exponentially related to the false alarm rate and the number of targets. Therefore, the hypotheses reduction techniques are required for the implementation of the algorithm. The N-scan-back method and K-best method are often used. On the basis of understanding the K-Best method and the N-Scan-back method, this study proposes the two-dimensional constraints by the K-Best method and the N-Scan-back method, and besides adds the target manoeuvre detection method to jointly manage the hypotheses based on the mean of the filter residual. According to the manoeuvre detection results, the optimised MHT algorithm can adjust the likelihood probability calculation model of the plot-track association and the posterior probability calculation model of the hypothetical branch track, and shorten the decision depth N in the N-Scan-back method. Through simulation, it is proved that the optimised algorithm can reduce the calculation amount and improve the tracking accuracy.

Keywords

• radar tracking
• sensor fusion
• probability
• target tracking
• filtering theory
• data association
• false alarm rate
• hypotheses reduction techniques
• two-dimensional constraints
• target manoeuvre detection method
• manoeuvre detection results
• optimised mht algorithm
• likelihood probability calculation model
• plot-track association
• posterior probability calculation model
• hypothetical branch track
• delay logic
• hypothesis tracking algorithm
• single-period statistical judgments
• k-best method
• n-scan-back method