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The Multiple Model Vo–Vo Filter

机译:多模型Vo – Vo滤波器

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摘要

A jump Markov system (JMS) multiple model solution is presented for tracking highly dynamic targets using the Vo-Vo filter (also known as generalized labeled multi-Bernoulli or GLMB filter). The closed-form solution is derived for Gaussian mixture implementation of the multiple-model Vo-Vo filter. The performance of the proposed method is examined and compared with the state of the art in challenging scenarios involving numerous appearing and disappearing targets with randomly time-varying dynamics. The results demonstrate that in such applications, the proposed method can outperform the competing techniques in terms of tracking accuracy, and is highly robust to variations in application and filter parameters such as clutter rate and model transition probabilities in the JMS.
机译:提出了一种跳跃马尔可夫系统(JMS)多模型解决方案,用于使用Vo-Vo滤波器(也称为广义标记多伯努利或GLMB滤波器)跟踪高度动态的目标。为多模型Vo-Vo滤波器的高斯混合实现导出了封闭形式的解决方案。在具有随机时变动态的,涉及众多出现和消失目标的具有挑战性的场景中,对提出的方法的性能进行了检查,并与现有技术进行了比较。结果表明,在此类应用中,所提出的方法在跟踪精度方面可以胜过竞争技术,并且对应用程序和滤波器参数(例如JMS中的杂波速率和模型转换概率)的变化具有很高的鲁棒性。

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