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就测量是目标位置的对称函数而论,本文介绍了多目标跟踪中航迹保持的一种新方法。在这一方法里,数据相关问题被嵌入目标状态估计过程中,所以没有必要考虑潜在目标/测量相关。对于三维空问中的N个运动目标,其目标状态估计的一阶模型是一个扩充的6N维卡尔曼滤波(器)。在本文中,注意的焦点在假定(一个给定座标系中)测量数(目)等于目标数(目)的等速目标情形。
In the sense that the measurement is a symmetric function of the target location, this paper introduces a new method of track keeping in multi-target tracking. In this method, data-related problems are embedded in the target state estimation process, so there is no need to consider potential target / measurement correlations. For N moving targets in 3D space, the first order model of the target state estimation is an extended 6N Dimensional Kalman filter. In this paper, the focus of attention is on the assumption that the number of measurements (in a given coordinate system) equals the constant rate goal in the target number (mesh).