定位噪声统计特性未知的变分贝叶斯协同目标跟踪

doi:10.13229/j.cnki.jdxbgxb.20210776

Abstract

Abstract:

In order to enhance the reliability of cooperative target tracking under unknown localization noise statistics， a Bayesian model is proposed for joint estimation of the states of target vehicle and cooperative vehicle and localization noise statistics parameters. An online variational Bayesian inference algorithm is further developed to realize recursive estimation. The simulation results show that the algorithm can effectively improve the accuracy of target tracking when the statistical characteristics of localization noise is uncertain and changes dynamically. Comparing with non-cooperative algorithm， the tracking error can be reduced by 18.7%~23.6%. In comparison with other cooperative algorithms， the tracking error can be reduced by 4.8%~9.7%.

Key words: vehicle engineering, multi-vehicle cooperative, target tracking, variational Bayesian inference, joint state estimation

CLC Number:

TP301.6

Xiao-bo CHEN,Ling CHEN. Variational Bayesian cooperative target tracking with unknown localization noise statistics[J].Journal of Jilin University(Engineering and Technology Edition), 2023, 53(4): 1030-1039.

Figures/Tables 18

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Table 8

Execution time of different algorithms"

$σ 2$	KF	EKF?C/S	EKF?C/D	VBIW?C
0.1	0.0150	0.0290	0.0298	0.1197
0.2	0.0153	0.0291	0.0293	0.1203
0.3	0.0150	0.0288	0.0294	0.1190
0.4	0.0158	0.0290	0.0292	0.1184
0.5	0.0159	0.0295	0.0290	0.1180

Table 8

Fig.9

Fig.10

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时段	KF	EKF?C/S	EKF?C/D	VBIW?C
［1~100］	0.4831	0.3604	0.3604	0.3618
［100~200］	0.2290	0.1905	0.1935	0.1805
［200~300］	0.1905	0.1632	0.1646	0.1467
［300~400］	0.1711	0.1471	0.1427	0.1310
［1~400］	0.2679	0.2149	0.2149	0.2046

时段	KF	EKF?C/S	EKF?C/D	VBIW?C
［1~100］	0.4831	0.3756	0.3756	0.3635
［100~200］	0.2290	0.2022	0.2003	0.1883
［200~300］	0.1905	0.1707	0.1695	0.1550
［300~400］	0.1711	0.1550	0.1459	0.1335
［1~400］	0.2679	0.2255	0.2224	0.2097

时段	KF	EKF?C/S	EKF?C/D	VBIW?C
［1~100］	0.4831	0.3865	0.3865	0.3657
［100~200］	0.2290	0.2096	0.2044	0.1925
［200~300］	0.1905	0.1749	0.1721	0.1598
［300~400］	0.1711	0.1599	0.1478	0.1356
［1~400］	0.2679	0.2323	0.2273	0.2130

时段	KF	EKF?C/S	EKF?C/D	VBIW?C
［1~100］	0.4831	0.3948	0.3948	0.3683
［100~200］	0.2290	0.2150	0.2073	0.1952
［200~300］	0.1905	0.1778	0.1738	0.1630
［300~400］	0.1711	0.1634	0.1492	0.1374
［1~400］	0.2679	0.2374	0.2309	0.2156

时段	KF	EKF?C/S	EKF?C/D	VBIW?C
［1~100］	0.4831	0.4012	0.4012	0.3713
［100~200］	0.2290	0.2191	0.2094	0.1972
［200~300］	0.1905	0.1801	0.1752	0.1652
［300~400］	0.1711	0.1662	0.1504	0.1389
［1~400］	0.2679	0.2412	0.2336	0.2177

Variational Bayesian cooperative target tracking with unknown localization noise statistics

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