Nonlinear Multi-Maneuvering Target Tracking Algorithm Based On Labeled Multi-Bernoulli Filter

In recent years,more and more scholars have devoted themselves to the research of maneuvering target tracking.Nowadays,single maneuvering target tracking technology has been widely used in many fields.However,with the increase of the number of targets and the complexity of tracking environment,the research on multi-maneuvering target tracking and nonlinear filtering technology also has important practical significance.Therefore,this paper is aimed at researching the algorithm of multi-maneuvering target tracking technology in nonlinear environment.In order to correlate the target with the track to accurately capture the track information of maneuvering targets,this paper uses the Labeled Multi-Bernoulli(LMB)filter to mark the identity information of targets,so that the state,the number and the track of the maneuvering targets can be effectively estimated.Aiming at the problem of multiple maneuvering targets tracking,consider introducing multi-model idea into the Labeled Multiple Bernoulli filter,and the Multi-model Labeled Multi-Bernoulli(MM-LMB)filtering algorithm is proposed.The uncertainty of the target motion model is processed by using a combination of multiple motion models to obtain the trajectory estimate of multiple maneuvering targets.Aiming at the nonlinear characteristics of maneuvering targets during motion,this paper proposes to apply the technique of Cubature Kalman filter to the Multi-model labeled Multi-Bernoulli filter algorithm to obtain the analytical solution of the problem,and to match the real motion of the target with the combination of cooperative turning model and constant velocity model.In this paper,the algorithm of multi-maneuvering target tracking using MM-LMB filter and the process of implementing MM-LMB filtering algorithm using Gaussian mixture method based on Cubature Kalman filter and Sequential Monte Carlo method in nonlinear environment are studied.At the end of the paper,the results of multi-maneuvering target tracking using MM-LMB filter under linear and nonlinear conditions are realized by simulation experiments.The experimental results show that the MM-LMB filter can effectively track multiple maneuvering targets in nonlinear environment,and the tracking performance of MM-LMB algorithm based on Cubature Kalman filter is better.