A hybrid‐driven continuous‐time filter for manoeuvering target tracking

Abstract

Abstract This paper considers the problem of target tracking in complex manoeuvering scenarios with a lack of relevant prior knowledge. This is a challenge for classical model‐based manoeuvering target tracking algorithms because they rely heavily on accurate domain and prior knowledge of target motion. To address this problem, we propose a hybrid‐driven continuous‐time filter algorithm in this paper, which combines the advantages of the model‐driven and data‐driven. We use the stochastic differential equation (SDE) with the acceleration model as the basic framework of the proposed algorithm. In order to deal with unpredictable manoeuvres and unknown perturbations, we adopt neural networks as data‐driven to estimate target accelerations and compensations of composite perturbations in real time using historical and current measurements. And the direction of gradient descent of the neural network is constrained by the motion model, thus the learning efficiency of the network and the interpretability of the proposed algorithm is improved. The proposed algorithm can simultaneously utilise historical trajectory information and domain knowledge as hybrid‐driven to achieve complex manoeuvering target tracking with little prior information. Experimental results demonstrate the superiority of our algorithm in tracking accuracy, robustness and environmental adaptability.

Keywords

• hybrid‐driven
• manoeuvering target tracking
• neural networks
• neural stochastic differential equations