Free clustering optimal particle probability hypothesis density (PHD) filter

Abstract

As to the fact that it is difficult to obtain analytical form of optimal sampling density and tracking performance of standard particle probability hypothesis density (P-PHD) filter would decline when clustering algorithm is used to extract target states, a free clustering optimal P-PHD (FCO-P-PHD) filter is proposed. This method can lead to obtainment of analytical form of optimal sampling density of P-PHD filter and realization of optimal P-PHD filter without use of clustering algorithms in extraction target states. Besides, as sate extraction method in FCO-P-PHD filter is coupled with the process of obtaining analytical form for optimal sampling density, through decoupling process, a new single-sensor free clustering state extraction method is proposed. By combining this method with standard P-PHD filter, FC-P-PHD filter can be obtained, which significantly improves the tracking performance of P-PHD filter. In the end, the effectiveness of proposed algorithms and their advantages over other algorithms are validated through several simulation experiments.