Hardware architecture and optimisation of FPP particle PHD filter for multi‐target tracking in cyber‐physical systems

Abstract

To meet the rapidly growing demand of localisation and tracking information of mobile agents in cyber-physical systems, in this paper, we propose a fully pipelined and parallel (FPP) hardware architecture of particle probability hypothesis density (PHD) filter for multi-target tracking on the multi-cores processor hardware platforms, where an improved resampling algorithm is designed. We formulate the demand of minimising the processing delay in this architecture as an optimisation problem, which can be efficiently solved by transforming it to a group of mixed non-linear integer programming problems. Delay analysis shows that the proposed FPP particle PHD filter achieves significant improvement of real-time performance, and simulation results demonstrate that tracking performance remains at the same level as traditional particle PHD filters.