Volume 38, Number 4, August 2020
|Page(s)||797 - 805|
|Published online||06 October 2020|
Distributed Multisensor Multitarget Tracking Algorithm with Time-Offset Registration
School of Automation, Northwestern Polytechnical University, Xi'an 710072, China
2 Beijing Aerospace Automatic Control Institute, Beijing 100854, China
In multisensor systems, the signal processing delay, measurement acquisition delay, and other factors will lead to imprecisely time-stamped measurements, namely, the problem of time-offset. To deal with the measurement time offsets in distributed multisensor systems, a distributed multisensor multitarget tracking algorithm with time-offset registration is proposed. The local processors track multiple targets in the presence of false alarms and missed detections based on the joint probabilistic data association (JPDA) algorithm and the extended Kalman filter (EKF), providing the time-biased local tracks. In the global processor, in allusion to the global track accuracy degradation introduced by the time offsets of local tracks, the equivalent measurements are firstly constructed based on local tracks by using the inverse Kalman filter. The pseudo-measurement equation of time offset for constant velocity targets is derived and the pseudo-measurement calculation method is presented. Then, the pseudo-measurement based relative time-offset estimation algorithm is presented, by using the recursive least squares estimation (RLSE) and the Kalman filter (KF) to jointly estimate the state in space and time domains, respectively. Finally, a framework of distributed multisensor multitarget tracking with time-offset registration is presented, where the time-varying relative time-offset estimation and compensation, 'equivalent measurement to global track' association, and global track update are included. Simulations for multisensor multitarget tracking in the presence of false alarms and missed detections are conducted, demonstrating that the present algorithm effectively improves the accuracy of fused global tracks.
Key words: distributed track fusion / multitarget tracking / equivalent measurement / pseudo-measurement equation / time-offset estimation
关键字 : 分布式航迹融合 / 多目标跟踪 / 等效量测 / 伪量测方程 / 时间偏差校准
© 2020 Journal of Northwestern Polytechnical University. All rights reserved.
This is an Open Access article distributed under the terms of the Creative Commons Attribution License (http://creativecommons.org/licenses/by/4.0), which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
Current usage metrics show cumulative count of Article Views (full-text article views including HTML views, PDF and ePub downloads, according to the available data) and Abstracts Views on Vision4Press platform.
Data correspond to usage on the plateform after 2015. The current usage metrics is available 48-96 hours after online publication and is updated daily on week days.
Initial download of the metrics may take a while.