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基于幅值信息的改进集成概率数据关联算法
Alternative TitleImproved Integrated Probabilistic Data Association Algorithm Based on Amplitude Information
李为; 李一平; 封锡盛
Department水下机器人研究室
Source Publication机器人
ISSN1002-0446
2015
Volume37Issue:5Pages:513-521
Indexed ByEI ; CSCD
EI Accession number20154801627384
CSCD IDCSCD:5542549
Contribution Rank1
Funding Organization基础科研(B1320133015), 国家自然科学基金(61273334), 中国科学院科技创新重点部署项目(KGFZD-125-014)
Keyword幅值信息 集成概率数据关联 量测不确定 目标存在概率
Abstract为通过幅值信息进一步提高概率数据关联算法的目标跟踪性能,且考虑到跟踪过程中目标的存在性问题,提出了一种基于幅值信息的集成概率数据关联算法,将幅值似然比引入目标存在概率和关联概率的计算过程中,可以改善集成概率数据关联算法的跟踪性能,提高目标存在性判断的快速性,降低目标丢失概率.最后通过仿真验证了改进算法的有效性.
Other AbstractIn order to further improve the estimation performance of the PDA (probabilistic data association) algorithm by using AI (amplitude information), an improved IPDA (integrated PDA) algorithm based on AI is proposed, in which the target existence problem in tracking process is considered. The likelihood ratio of amplitude is introduced to compute the probability of target existence and the association probability, which can improve the tracking performance of IPDA algorithm and the rapidity of judging existence for targets, and reduce probability of tracking loss. Finally, simulation results prove the effectiveness of the proposed algorithm.
Language中文
Citation statistics
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/17231
Collection水下机器人研究室
Affiliation1.中国科学院沈阳自动化研究所机器人学国家重点实验室
2.中国科学院大学
Recommended Citation
GB/T 7714
李为,李一平,封锡盛. 基于幅值信息的改进集成概率数据关联算法[J]. 机器人,2015,37(5):513-521.
APA 李为,李一平,&封锡盛.(2015).基于幅值信息的改进集成概率数据关联算法.机器人,37(5),513-521.
MLA 李为,et al."基于幅值信息的改进集成概率数据关联算法".机器人 37.5(2015):513-521.
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