Abstract
In the field of resolvable group target tracking, further study on the structure and formation of group targets is helpful to reduce the tracking error of group bluetargets. In this paper, we propose an algorithm to detect whether the structure or formation state of group targets changes. In this paper, a Gibbs Generalized Labeled Multi-Bernoulli (GLMB) filter is used to obtain the estimation of discernible group target bluestates. After obtaining the state estimation of the group target, we extract relevant information based on the estimation data to judge whether the structure or formation state has changed. Finally, several experiments are carried out to verify the algorithm.
Highlights
In many fields, the application of target tracking technology can be seen
This paper focuses on how to determine whether the structure and formation of group targets have changed
We analyze the structure and formation of group targets based on the information of target position and velocity, and propose a method to determine whether they have state changes
Summary
The application of target tracking technology can be seen. For example, target tracking is an important part in the field of self-driving cars. In Reference [32,33], Vo et al simplified the prediction step and update step of GLMB filter into a single step This new method to implementation is known as Gibbs. In the Reference [33], we apply a Gibbs-GLMB filter to estimate the state of resolvable group targets and track them. In this paper, based on the collaborative relationships between targets and the state information of each independent target, we propose a method to determine the structure and formation change of resolvable group targets. The content of this paper is arranged as follows: Section 2 introduces relevant background knowledge including RFS, LRFS, and graph theory; Section 3 describes a state estimation method for resolvable group targets; Section 4 discusses how to determine the structure and formation of resolvable group targets in continuous and discrete environments.
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