Sensor control strategy of Gaussian mixture labeled multi-Bernoulli filter

Abstract

Abstract: Aiming at the sensor control problem in the optimization of multi-target tracking, a fast sensor control strategy based on Gaussian mixture labeled multi-Bernoulli filter is proposed, and is used in the risk assessment based on the target threat assessment. First, the paper presents the realization form of the Gaussian mixture labeled multi-Bernoulli filter, and studies the calculation of the Cauchy Schwarz divergence between two Gaussian mixtures. Secondly, multi-Bernoulli is used to partially replace the labeled multi-Bernoulli filter pseudo update step in sensor control, that is, removing tagging is adopted in the process of multi-Bernoulli update, which significantly reduces the complexity of sensor control algorithm. In addition, based on the general sensor control method, the ultimate control scheme is solved by maximizing the target information gain of the maximum threat degree as the criterion. Simulation results show the effectiveness and rapidity of the proposed algorithm.

Key words: multi-target tracking, sensor control, labeled multi-Bernoulli filter, target threat degree

CLC Number:

TP273

CHEN Hui, LIU Ya-ting, WANG Li. Sensor control strategy of Gaussian mixture labeled multi-Bernoulli filter[J]. Journal of Lanzhou University of Technology, 2022, 48(2): 73-80.

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