Centralized Multi-Sensor Square Root Cubature Joint Probabilistic Data Association

Abstract

This paper focuses on the tracking problem of multiple targets with multiple sensors in a nonlinear cluttered environment. To avoid Jacobian matrix computation and scaling parameter adjustment, improve numerical stability, and acquire more accurate estimated results for centralized nonlinear tracking, a novel centralized multi-sensor square root cubature joint probabilistic data association algorithm (CMSCJPDA) is proposed. Firstly, the multi-sensor tracking problem is decomposed into several single-sensor multi-target tracking problems, which are sequentially processed during the estimation. Then, in each sensor, the assignment of its measurements to target tracks is accomplished on the basis of joint probabilistic data association (JPDA), and a weighted probability fusion method with square root version of a cubature Kalman filter (SRCKF) is utilized to estimate the targets’ state. With the measurements in all sensors processed CMSCJPDA is derived and the global estimated state is achieved. Experimental results show that CMSCJPDA is superior to the state-of-the-art algorithms in the aspects of tracking accuracy, numerical stability, and computational cost, which provides a new idea to solve multi-sensor tracking problems.

An Advanced Cubature Information Filtering for Indoor Multiple Wideband Source Tracking With a Distributed Noise Statistics Estimator

“…Simulations are conducted to evaluate the effectiveness of the proposed methodology for target tracking in the presence of incorrect statistics of measurement noise. Centralized fusion technology based multi-target square-root cubature Kalman filtering (CMTSCKF) [7] and weighted consensus based multi-target square-root CIF (DMTSCIF) [12] are selected for comparison analysis. The coordinated turn (CT) model is chosen for targets tracking in DAVS and a fixed angular speed γ of turning is employed for the maneuvering target in X /Y plane.…”

“…Zhong et al proposed a two-step positioning method for multiple wideband sources [6], where an advanced capon beamforming was used to estimate the DOAs of multiple targets and then the random finite set (RFS) was adopted to locate multiple targets. The existing algorithms on multi-target tracking can be mainly classified into two categories [7]: RFS and data association. Although RFS based method avoids the problem of measurements-to-tracks association, the use of RFS causes a huge computation burden and lacks an exact solution for integral operations [7].…”

“…The existing algorithms on multi-target tracking can be mainly classified into two categories [7]: RFS and data association. Although RFS based method avoids the problem of measurements-to-tracks association, the use of RFS causes a huge computation burden and lacks an exact solution for integral operations [7]. In addition, although the structure of DAVS is selected, the algorithm of information fusion in [4]- [6] is a centralized technology which transmits all the information of local nodes to the centralized computing node.…”

Sequential unbiased converted measurement non‐linear filter with range rate in ECEF coordinates

“…. Moreover, no scaling parameter is used in CKF, avoiding the influence of parameter selection on the performance in UKF, and the selected sampling points and weights are only related to the dimension of the target state, which can be calculated in advance to reduce the computational complexity [26]. According to the above analysis, the CKF is implemented as the second‐stage filter for the 6D target state estimation with the decorrelated pseudo measurements.…”

Adaptive Interacting Multiple Model Algorithm Based on Information-Weighted Consensus for Maneuvering Target Tracking

“…Centralized architecture is the traditional architecture in which measurements from all sensors are sent to the fusion center. The optimal estimation is obtained by processing and fusing the complete measurement sets of the whole system [ 15 ]. However, the computation and communication burden imposed on the fusion center are severe, only powerful equipment can accomplish this task.…”