Centralized Fuzzy Data Association Algorithm of Three-sensor Multi-target Tracking System

摘要

For improving the effect of multi-target tracking in dense target and clutter scenario, a centralized fuzzy optimal assignment algorithm (CMS-FOA) of three-sensor multi-target system is proposed. And on the base of this, a generalized probabilistic data association algorithm (CMS-FOAGPDA) based on CMS-FOA algorithm is presented. The fusion algorithm gets effective 3-tuple of measurement set by using components of several satisfactory solutions of the fuzzy optimal assignment problem and then uses generalized probabilistic data association algorithm to calculate the update states of targets. Simulation results show that, in the aspect of multi-target tracking accuracy, CMS-FOA algorithm is superior to the optimal assignment (CMS-OA) algorithm based on state estimate and CMS-FOAGPDA algorithm is better than CMS-FOA algorithm. But considering the time spent, CMS-FOA algorithm spends a minimum of time and CMS-FOAGPDA algorithm is exactly on the contrary. Therefore, compared with CMS-OA algorithm, the two algorithms presented in the study each has its advantages and should be chosen according to the needs of the actual application when in use.