针对长时间相近运动的多目标跟踪过程中易出现的航迹间互相干扰问题,在经验联合概率数据互联(CJPDA)算法的基础上,提出了一种基于距离关系进行二次加权的数据互联(D-CJPDA)算法。通过CJPDA算法计算候选量测与航迹的互联概率,然后根据各候选量测与航迹预测点的距离比例关系对互联概率进行二次加权,最后根据新的概率分布得到的等效回波来更新目标的状态和协方差,从而完成目标航迹的维持与更新。仿真实验结果表明,与CJPDA算法相比,所提算法可进一步提高跟踪精度,并减少航迹合并及目标误跟踪的可能性。

In order to solve the problem of trajectory jamming in multi-target tracking, a Distance-Cheap Joint Probability Data Association (D-CJPDA) algorithm based on distance for re-weighting is proposed on the basis of CJPDA.The probability of interconnection between the candidate measurements and the tracks is calculated by using CJPDA algorithm, and the probability of interconnection is re-weighted according to the distance relationship between each candidate measurement and track prediction point.The state and covariance of the target are updated according to the equivalent value obtained from the new probability distribution, thus to maintain and update the target track.Simulation results show that, compared with CJPDA algorithm, the proposed algorithm can further improve the tracking accuracy and reduce the possibility of track merging and false tracking.