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Multi-target tracking in clutter without measurement assignment

机译：杂乱无章的多目标跟踪，无需分配测量

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摘要

When tracking targets using radars and sonars, the number of targets and the origin of data is uncertain. Data may be false measurements or clutter, or they may be detections from an unknown number of targets whose possible trajectories and detection processes can only be described in a statistical manner. Optimal all-neighbor multi-target tracking (MTT) in clutter enumerates all possible joint measurement-to-track assignments and calculates the a posteriori probabilities of each of these joint assignments. The numerical complexity of this process is combinatorial in the number of tracks and the number of measurements. One of the key differences between most MTT algorithms is the manner in which they reduce the computational complexity of the joint measurement-to-track assignment process. We propose an alternative approach, using a form of soft assignment, that enables us to bypass this step entirely. Specifically, our approach treats possible detections of targets followed by other tracks as additional clutter measurements. It starts by approximating the a~priori probabilities of measurement origin. These probabilities are then used to modify the clutter spatial density at the location of the measurements. A suitable single target tracking (STT) filter then uses the modified clutter intensity for updating the track state. In effect, the STT filter is transformed into an MTT filter with a numerical complexity that is linear in the number of tracks and the number of measurements. Simulations show the effectiveness of this approach in a number of different multi-target scenarios.
机译：当使用雷达和声纳追踪目标时，目标的数量和数据的来源是不确定的。数据可能是错误的测量结果或混乱的结果，也可能是来自未知数量目标的检测，这些目标的可能轨迹和检测过程只能以统计方式描述。杂波中的最佳全邻居多目标跟踪（MTT）枚举了所有可能的联合测量到跟踪分配，并计算了这些联合分配中每一个的后验概率。该过程的数字复杂度在磁道数和测量数上是组合的。大多数MTT算法之间的主要区别之一是它们降低联合测量到轨道分配过程的计算复杂度的方式。我们提出了一种使用软分配形式的替代方法，该方法使我们能够完全绕过此步骤。具体来说，我们的方法将可能的目标检测以及其他轨迹作为其他杂波测量。它从近似测量原点的先验概率开始。这些概率然后用于修改测量位置处的混乱空间密度。然后，合适的单目标跟踪（STT）滤波器使用修改后的杂波强度来更新跟踪状态。实际上，STT滤波器被转换为MTT滤波器，其数字复杂度在磁道数和测量数之间呈线性关系。仿真显示了这种方法在许多不同的多目标方案中的有效性。

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