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Volume 26 Issue 2
 
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Article Navigation >  Journal of Unmanned Undersea Systems  > 2018  >  26(2): 115-121
SU Jun, LI Ya-an, CHEN Xiao, ZHAO Zhen-yi. Data Association Algorithm for Multi-target Tracking of Underwater Bearings-only Systems with Double Observation Stations[J]. Journal of Unmanned Undersea Systems, 2018, 26(2): 115-121. doi: 10.11993/j.issn.2096-3920.2018.02.003
Citation: SU Jun, LI Ya-an, CHEN Xiao, ZHAO Zhen-yi. Data Association Algorithm for Multi-target Tracking of Underwater Bearings-only Systems with Double Observation Stations[J]. Journal of Unmanned Undersea Systems, 2018, 26(2): 115-121. doi: 10.11993/j.issn.2096-3920.2018.02.003
shu

Data Association Algorithm for Multi-target Tracking of Underwater Bearings-only Systems with Double Observation Stations

doi: 10.11993/j.issn.2096-3920.2018.02.003

  • School of Marine Science and Technology, Northwestern Polytechnical University, Xin’an 710072, China

  • Received Date: 2018-02-07
  • Rev Recd Date: 2017-03-07
  • Publish Date: 2018-05-08
    Abstract
  • The bearings-only system with double observation stations generates a mass of false-location while locating multiple targets, which result in squared growth in the number of target measurement data and the number of false measurements. To solve this problem, this paper proposes modified nearest neighbor filter(MNNF) by adding a set of events according to nearest neighbor filter(NNF) with consideration of the fact that there is no effective measurement in the tracking gate. Then a modified probabilistic data association(MPDA) algorithm is also proposed by simplifying the calculation procedure of the joint probabilistic data association(JPDA) algorithm and weakly weighting all of the measurements in common area. Simulation is conducted to compare MPDA and MNNF, and the results show that both algorithms can help obtain satisfactory estimation result in the existence of “ghost points” in the bearings-only system with double observation stations, but MPDA performs obviously better than MNNF.

     

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