多传感器多目标数据关联算法综述

孔云波,冯新喜,鹿传国(空军工程大学,西安710077):多传感器数据关联是当前信息融合领域中的热点问题,在军事和民用方面都有着十分广泛的应用本文对目前国内外部分文献上发表的有关多传感器多目标数据关联方法进行了综述,根据关联数据类型将多目标跟踪中的数据关联问题分为量测量测(点迹点迹)关联量测航迹(点迹航迹)关联和航迹航迹关联,并对不同关联数据类型对应的不同关联算法进行了全面的阐述和归纳,指出了数据关联研究中存在的主要问题,最后对数据关联技术的研究方向进行了展望:多传感器;多目标;数据关联;算法;综述1,,,,,,;,,,,,,,,,()(),[1],,,2(),,,[2],,,,,,1图1虚假点产生原理,,720104ChinaRadar,MN(M,N2),MN,M,2.1[3]3M,M12M2,1={X1k,2l},k,l=1,2,!,M132={X1k,3m},k,m=1,2,!,M,d=∀X1k,2l-X1k,3m∀(1)ddmin,k,l,m,[3],2.2,,[4](1)3M,s(xs,ys),sis(s=1,2,3;is=1,2,!,M)Zsis=sis+nsis(2),nsis,2s,,3Z(2),{Zsis}3s=1(is=1,2,!,M),{Zsis}3s=1!,{Zsis}3s=1∀(Zi1i2i3|!)=p(Z1i1|!)p(Z2i2|!)p(Z3i3|!)=#3s=122∃%sexp{-12(Zsis-sis)2%2s}(3)!,Z1i1Z2i2Z3i3ZM,Z={Z1,Z2,!,ZM}&∋={&}&*,,,,,,,2.31992,BarShalom,,:,,,NP[5][6];[7],,,;[8],,,,,,,[9],PDA,DS,,,3()(),[10]:3.1,8,:20104[11]0l[1214][15],,,;,;01,,;,,3.2,[1,10][1,10][1,10][1,10],:d2k=zTk|k-1S-1kzk|k-1(4),zk|k-1;Sk;d2k,,,,,,,,,,,,,,,,(JPDA),,JPDA,,,,,,(MHT)JPDA,,,,,MHTStreitRLLuginbublTE,EM,,4,:4.1,SingerKanyuck,,,,,,[1618],,,,Barshalom,,,,[19],,4.2920104ChinaRadar,Tummala,,,IF...THEN...,,,[8]4.3,,(),,,,[20,21],,,,,,,,,,,[22],[23]4.4Bown,,,,######,,,,[24];[25],,,,5,(),,,,,,,[1],,.[M].:,2006[2].TMA[D].:,2003[3],.[J].,1994,2:17[4]StevenCNardone,VincentJAidala.ObservabilityCriteriaforBearingsOnlyTargetMotionAnalysis[J].IEEETransactionsonAES,1981,17(2):162166[5]SomnathDEB,MuralyYeddanapudi,KrishnaRPattipati,etal.AGeneralizedSDAssignmentAlgorithmforMultisensorMuItitargetStateEstimation[J].IEEETransactionsonAES,1997,33(2):523538[6],,,.[J].2003,25(3):280283[7],.10,:20104[J].,2005,26(6):748752[8],,.[J].,34(6):991994[9],.[J].,2004,32(6):10131016[10],,.[M].:,2009[11]YBarShalom,TEFortmann.TarckingandDataAssociation.AcademicPress,1988[12]Pattipati,KRDeb,SBarshalom,etal.NewRelaxationAlgorithmandPassiveSensorDataAssociation[J].IEEETrans.AutomaticControl,1992,37(2):198213[13]RobertL,POPP,KRPattiPati,YBarShalom.BestSDAssignmentAlgorithmwithApplicationtoMultitargetTracking[J].IEEETrans.AerospaceElectron.Systems200l,31(7):2237[14]TKinlbarajan,YBarSbalom,KRPattiPati.MultiassignmentforTrackingaLargenumberofOverlappingobjects[J].IEEETrans.AerospaceEleetron.Systems200l,37(l):218[15]YBarShalom,XRLiEstimationn.Tracking:PrineiPles,TechniquesandSoftware.Boston,MA:ArtechHouse,1993[16]AJKanyuck,RASinger.CorrelationofMultiplesiteTrackData[J].IEEETrans.OnAES,Vol.AES6,2(1970):180187[17]RASinger,AJKanyuck.ComputerControlofMultipleSiteTrackCorrelation[J].Automation,Vol.7,1971:455463[18]WRDitzler.ADemonstrationofMultisensorTracking[J].InProceedingsofthe1987TriServiceDataFusionSymposium,June1987:303311[19],,.[J].,1996,36(9):1420[20],,.[J].,1997,19(6):721728[21],,.[J].,2008,9(5):27113[22],.[J].,2003,1:57[23].[J].,2004,12(1):1518[24]玥,王钺,王树刚,等.基于目标参照拓扑德模糊航迹关[J].,2006,28(4):105109[25]BarShalomY.MultisensorTracking:AdvancedApplication[J].NewYork,ArtechHouse,1990,1:187195(6)图5相对误差曲线5,,,,,,[1].[M].:,2004[2]BeckerK.Threedimensiontargetmotionanalysisusingangleandfrequencymeasurements.IEEETransAerospace&ElectronicSystems,AES41(1),Jan.2005:284301[3]VaccaroDD.Electronicwarfarereceivingsystems[M].Norwood:ArtechHouse,1993[4],,,.[J].,2009,21(11):33703373[5],.MGEKF[J].,2009,34(6):5156[6],,,.()[M].:,2009[7],,.[M].:,2009[8],,,.[C].,2004(8):717720[9],,.[J].,2008,9(1):67691120104ChinaRadar