Long-term tracking for high-frequency surface wave radar based on heading constraint filtering combined ELM

Abstract

Abstract Aiming at the problem of low measurement resolution and poor tracking accuracy in High-frequency surface wave radar (HFSWR) tracking field, a tracking method that combines the heading constraint filter and Extreme Learning Machine (ELM) is proposed. Compared with the existing research, the innovation of this study lies in proposing a two-stage tracking method based on the short-term stable state of the target, and similarity of long-term trajectory. Firstly, the heading constraint information is introduced into the estimator and improve the estimation accuracy. In multi-target tracking scenarios, many tracklets can be obtained. Then, the ELM learns robust features of tracklets to achieve the trajectory segment classification from the same target. This method can be widely applied to long-term tracking of cargo or passenger ships with fixed destinations, significantly improving tracking performance by utilizing implicit domain knowledge without additional information. The actual data of this paper comes from HFSWR on Bohai Bay. Both the simulation and actual measurement experiments show that the proposed cascaded tracking method achieves long-term continuous tracking, and generates more complete trajectories. Moreover, the proposed Extended Kalman filter based on pseudo-measurement and intercept parameters (IPM-EKF) exhibits better tracking stability and accuracy in limited scan steps. This study provides new ideas and methods for improving the tracking performance of special targets in the HFSWR field by utilizing motion features.