Acoustic Images Multi-Target Tracking Method Based on Modified Particle Filter

Abstract

Abstract:

Aimed at the problem of underwater multi-target tracking using forward looking sonar images, a modified particle filter (PF) multi-target tracking method was proposed. By introducing the joint probabilistic data association (JPDA) method, a JPDA-PF algorithm was established. Thus particle weight could reflect the relationship between measurement and trajectory, which ensured the reliability and continuity of every trajectory. In order to increase the accuracy of tracking, the confirmation matrix was obtained by a double tracking threshold, including both relative distance and angle threshold. The methods of trajectory initialization and trajectory termination were complemented, which improved the whole tracking algorithm. Contrast tests on multi-target tracking were conducted, and the better performance of JPDAPF was verified. This paper provides a more effective method for multi-target tracking based on forward looking sonar.

Key words: joint probabilistic data association, particle filter, target tracking, forward-looking sonar

MA Shan,ZHANG Tiedong,PANG Yongjie,WAN Lei. Acoustic Images Multi-Target Tracking Method Based on Modified Particle Filter[J]. Journal of Shanghai Jiaotong University, 2013, 47(12): 1848-1855.

References

［1］Bruzzone G, Bruzzone G, Bibuli M, et al. Autonomous Mine Hunting Mission for the Charlie USV ［C］ //OCEANS. Santander, Spain: IEEE Press, 2011: 16.

［2］Williams D P. On optimal AUV trackspacing for underwater mine detection ［C］ //Robotics and Automation. Anchorage, A K: IEEE Press, 2010: 47554762.

［3］Kimball P, Rock S. Sonarbased icebergrelative AUV navigation ［C］ // Autonomous Underwater Vehicles. Woods Hole, M A: IEEE Press, 2008:16.

［4］Pebody M, Sutton R. Autonomous underwater vehicle collision avoidance for underice exploration ［J］. Proceedings of the Institution of Mechanical Engineers, Part M: Journal of Engineering for the Maritime Environment, 2008, 222(2): 5366.

［5］ElHawary F. Adaptive underwater target tracking via a generalized kalman filter ［C］ //Autonomous Underwater Vehicle Technology. Halifax, N S: IEEE Press, 1990:275279.

［6］TenaRuiz I, Petillot Y, Lane D, et al. Tracking objects in underwater multibeam sonar images ［C］ //IEE Colloquium on Motion Analysis and Tracking. England: IEEE Press, 1999: 11/111/7.

［7］Sinha A, Ding Z, Kirubarajan T, et al. Track quality based multitarget tracking approach for global nearestneighbor association ［C］ //Aerospace and Electronic Systems, IEEE Transactions on. Adelphi, M D: IEEE Press, 2012: 11791191.

［8］Braca P, Grasso R, Vespe M, et al. Application of the JPDAUKF to HFSW radars for maritime situational awareness ［C］ //Information Fusion (FUSION). Singapore: IEEE Press, 2012：25852592.

［9］Clark D E, TenaRuiz I, Petillo Y. Multiple target tracking and data association in sonar images ［C］ //The 2006 IEEE Seminar on Target Tracking: Algorithms and Application. USA: IEEE Press, 2006: 147156.

［10］Lane D M, Chantler M J, Dai D. Robust tracking of multiple objects in sectorscan sonar image sequences using optical flow motion estimation ［J］. Oceanic Engineering， 1998, 23(1): 3146.

［11］高剑,严卫生,徐德民,等.基于采样卡尔曼滤波的水下被动目标跟踪［J］.火力与指挥控制， 2006, 31(12): 2529.

GAO Jian, YAN Weisheng, XU Demin, et al. Unscented Kalman filter for passive underwater target tracking ［J］. Fire Control and Command Control， 2006, 31(12): 2529.

［12］马悦.水下目标的声探测与跟踪技术研究［D］. 哈尔滨：哈尔滨工程大学, 2008.

［13］张铁栋,万磊,王博,等.基于改进粒子滤波算法的水下目标跟踪［J］.上海交通大学学报， 2012, 46(6): 3843.

ZHANG Tiedong, WAN Lei, WANG Bo, et al. Underwater object tracking based on improved particle filter ［J］. Journal of Shanghai Jiaotong University， 2012, 46(6): 3843.

［14］Fortmann T E, BarShalom Y, Scheffe M. Sonar tracking of multiple targets using joint probabilistic data association ［J］. IEEE Journal of Oceanic Engineering， 1983, 8(7): 173183.

［15］马珊,庞永杰,张铁栋.基于GRNN的声图像特征选择研究［C］ //第十五届中国海洋（岸）工程学术讨论会.太原:海洋出版社, 2011: 247252.

[1]	HUANG He, WU Kun, LI Xinrui, WANG Jun, WANG Huifeng, RU Feng. A Multi-Feature Particle Filter Vehicle Tracking Algorithm Based on Adaptive Interpolation Moth-Flame Optimization [J]. Journal of Shanghai Jiao Tong University, 2022, 56(2): 143-155.
[2]	GAO Honglian, YOU Jie, CAO Songyin. In-Flight Alignment Method of Integrated SINS/GPS Navigation System Based on Combined PF-UKF Filter [J]. Journal of Shanghai Jiao Tong University, 2022, 56(11): 1447-1452.
[3]	HE Zishu, SU Yang, CHENG Ting. Opportunistic Cooperative Target Tracking Algorithm Based on the Co-located MIMO Radar Networking System [J]. Air & Space Defense, 2022, 5(1): 6-11.
[4]	ZHANG Lulu (章露露), DONG Xiangxiang (董祥祥), YAO Lixiu (姚莉秀), CAI Yunze (蔡云泽). Velocity-Varying Target Tracking of Mobile Sensor Network Based on Flocking Control [J]. J Shanghai Jiaotong Univ Sci, 2021, 26(4): 446-453.
[5]	HOU Yuguan, HAN Yuanpeng, XIE Jinyue, MAO Xingpeng. A Radar DOA Tracking Method for Multiple Targets Based on SDE Model [J]. Air & Space Defense, 2021, 4(1): 41-46.
[6]	PENG Pai, CHEN Cong , YANG Yongsheng . Particle Swarm Optimization Based on Hybrid Kalman Filter and Particle Filter [J]. J Shanghai Jiaotong Univ Sci, 2020, 25(6): 681-688.
[7]	BI Xiaojun,HU Songyi. Firefly Algorithm with High Precision Mixed Strategy Optimized Particle Filter [J]. Journal of Shanghai Jiaotong University, 2019, 53(2): 232-238.
[8]	ZHANG Liang (张梁), BAO Qilian *(鲍其莲), CUI Ke (崔科), JIANG Yaodong (蒋耀东), XU Haigui (徐海贵), DU Yuding (杜雨丁). Particle Filter and Its Application in the Integrated Train Speed Measurement [J]. Journal of Shanghai Jiao Tong University (Science), 2019, 24(1): 130-136.
[9]	SUN Yiqi,WU Aiguo,DONG Na,SHAO Yizhe. A Novel Algorithm for Hand Tracking with Particle Filter and Improved GVF Snake [J]. Journal of Shanghai Jiaotong University, 2018, 52(7): 801-807.
[10]	CHEN Xiao，LI Ya’an，LI Yuxing，YU Jing. Maneuvering Target Tracking Algorithm Based on Weighted Distance of Probability Data Association [J]. Journal of Shanghai Jiaotong University, 2018, 52(4): 474-479.
[11]	LI Tantan,LEI Ming. Heuristic Algorithm-Based Initiation Method of Probability Hypothesis Density Filter for Target Tracking [J]. Journal of Shanghai Jiaotong University, 2018, 52(1): 63-69.
[12]	ZHAO Guoqia,b,YANG Minga,b,WANG Binga,b,WANG Chunxiangc. Mobile Robot Seamless Localization Based on Smart Device in Indoor and Outdoor Environments [J]. Journal of Shanghai Jiaotong University, 2018, 52(1): 13-19.
[13]	LI Jiaqiang1a,2,ZHAO Chunyan1b,2,CHEN Jinli1a,1b,ZHAO Ronghua1b,2. A Modified Generalized Least Square Registration Algorithm on WGS-84 Coordinate [J]. Journal of Shanghai Jiaotong University, 2016, 50(05): 771-775.
[14]	ZHANG Tie，MA Qiongxiong. Human Object Tracking Algorithm for Human-Robot Interaction [J]. Journal of Shanghai Jiaotong University, 2015, 49(08): 1213-1219.
[15]	LI Xiongjie1,2，ZHOU Donghua2. Fault Diagnosis Based on Particle Filter for Hybrid System [J]. Journal of Shanghai Jiaotong University, 2015, 49(06): 849-854.