Resolvable Group Target Tracking via Multi-Bernoulli Filter and Its Application to Sensor Control Scenario

Abstract

In this paper, we address the problem of resolvable group target tracking (RGTT) and the application of RGTT in the sensor control scenarios. The aim of our approach is to further improve the tracking performance of multi-Bernoulli (MB) filter by exploiting the group structure information. Firstly, a single-target state transition function (SSTF) is derived from the direct integral solution of the single-target state stochastic differential equation (SDE), which is used to revise the prediction process of the standard MB filter. Then, combing the Gaussian mixture (GM) implementation, the prediction process of the proposed SSTF-based MB (SSTF-MB) filter is detailed. Next, considering the benefits and importance of group structure in the sensor control scenarios, the proposed SSTF-MB filter is applied into a mobile sensor platform whose control actions (e.g., motion direction) are uncertain. Specifically, the proposed SSTF-MB filter is merged into a sensor control strategy where the Cauchy-Schwarz (CS) divergence is selected as the objective function to compute the discrepancy between two first-order moment approximations of MBs. Finally, the efficiency and performance of the proposed SSTF-MB filter and its application to sensor control scenario is well demonstrated in the simulation experiments.