Refined PHD Filter for Multi-Target Tracking under Low Detection Probability
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National Key Laboratory of Science and Technology on ATR, National University of Defense Technology, Changsha 410073, China
2
School of Electronics and Communication Engineering, SUN YAT-SEN University, Guangzhou 510275, China
*
Author to whom correspondence should be addressed.
Sensors 2019, 19(13), 2842; https://doi.org/10.3390/s19132842
Received: 5 June 2019
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Revised: 24 June 2019
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Accepted: 24 June 2019
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Published: 26 June 2019
(This article belongs to the Special Issue Innovative Target Tracking Techniques for Modern Radar and Sonar Systems)
Radar target detection probability will decrease as the target echo signal-to-noise ratio (SNR) decreases, which has an adverse influence on the result of multi-target tracking. The performances of standard multi-target tracking algorithms degrade significantly under low detection probability in practice, especially when continuous miss detection occurs. Based on sequential Monte Carlo implementation of Probability Hypothesis Density (PHD) filter, this paper proposes a heuristic method called the Refined PHD (R-PHD) filter to improve multi-target tracking performance under low detection probability. In detail, this paper defines a survival probability which is dependent on target state, and labels individual extracted targets and corresponding particles. When miss detection occurs due to low detection probability, posterior particle weights will be revised according to the prediction step. Finally, we transform the target confirmation problem into a hypothesis test problem, and utilize sequential probability ratio test to distinguish real targets and false alarms in real time. Computer simulations with respect to different detection probabilities, average numbers of false alarms and continuous miss detection durations are provided to corroborate the superiority of the proposed method, compared with standard PHD filter, Cardinalized PHD (CPHD) filter and Cardinality Balanced Multi-target Multi-Bernoulli (CBMeMBer) filter.
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Keywords:
refined PHD filter; low detection probability; continuous miss detection; radar multi-target tracking; survival probability; target labels; posterior weight revision; sequential probability ratio test; hypothesis test
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MDPI and ACS Style
Wang, S.; Bao, Q.; Chen, Z. Refined PHD Filter for Multi-Target Tracking under Low Detection Probability. Sensors 2019, 19, 2842. https://doi.org/10.3390/s19132842
AMA Style
Wang S, Bao Q, Chen Z. Refined PHD Filter for Multi-Target Tracking under Low Detection Probability. Sensors. 2019; 19(13):2842. https://doi.org/10.3390/s19132842
Chicago/Turabian StyleWang, Sen, Qinglong Bao, and Zengping Chen. 2019. "Refined PHD Filter for Multi-Target Tracking under Low Detection Probability" Sensors 19, no. 13: 2842. https://doi.org/10.3390/s19132842
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