Abstract
Low altitude small target group has the special motion characteristics of orderly as a whole and flexibly as individuals. The performances of traditional target tracking algorithms (such as centroid tracking, geometric centre tracking, etc.) decrease obviously when the group outline changes. Hence in this paper, a robust tracking algorithm for target group with dynamic outline is studied. Aiming at the two key issues of group division and equivalent tracking point estimation, a robust group division algorithm, which can maintain the stability of group division results under any reference point selection, is firstly introduced. Then, on this basis, a new optimal tracking point estimation method is proposed by introducing the group structure into the likelihood function. The simulation results show that this proposed method can effectively improve the robustness of low altitude small target group tracking in the scene of group merging and group splitting.
Highlights
Low altitude area, of which the altitude is less than 1km, has great value in applications of agriculture, medical treatment, transportation, etc [1], [2]
2) in a simulation, when all the tracks in the scene are successfully tracked, the simulation is considered valid; 3) calculate the average accuracy of all tracks as the output of the accuracy assessment, where the accuracy of a single track is still given by the Equation (38) in the paper; 4) for each error deviation, 50 repeated experiments are performed: a) when the success rate is greater than 90%, the average value of multiple accuracy evaluation results is calculated as the final output
It is directly related to the performance of group centre tracking, as well as the accuracy of group outline estimation
Summary
Of which the altitude is less than 1km, has great value in applications of agriculture, medical treatment, transportation, etc [1], [2]. Low altitude small target groups (LSTG) such as bird flocks and drone swarms have become non-ignorable security threats to this area. Due to their special motion characteristics (orderly as a whole and flexibly as individuals), existing technologies can hardly achieve ideal monitoring effects. Each year, these LSTG cause huge economic losses in civil aviation, and may be maliciously used to endanger public safety [3], [4]. There have been many researches on radar tracking algorithms for single and multiple targets situations [7]–[10]. The problem of tracking target groups with dynamic outlines has not been fully addressed
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