一种基于深度学习的多状态融合机动目标跟踪算法
A Deep Learning-Based Multiple-State Fusion Approach for Maneuvering Target Tracking
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摘要: 近年来,随着传感通信技术的快速发展,高精度实时数据获取能力得到了极大增强,为采用数据驱动方法解决机动目标跟踪问题、克服传统模型驱动的滤波器存在的先验模型信息匮乏、高速目标机动等难题提供便利。特别是,深度学习技术通过构建端到端的神经网络估计映射来实现目标的状态估计,摆脱了对先验信息的依赖,但也存在着依赖训练数据、缺乏物理可解释性等问题。针对该问题,本文结合了模型驱动的交互多模型(Interactive Multiple Model, IMM)算法和数据驱动的长短时记忆(Long Short-Term Memory, LSTM)网络的优势,提出了一种基于深度学习的多状态融合机动目标跟踪算法。该算法由多个基于LSTM网络的跟踪器和单个基于LSTM网络的分类器组成,为每个跟踪器分配单独的目标运动状态,跟踪器进行并行计算得到状态估计值。之后,通过分类器来确定目标的每个运动状态的概率权重值,并将跟踪器的估计值进行加权平均得到最终估计。仿真实验证明,本文提出的算法在跟踪精度上优于IMM算法和基于端到端LSTM网络的跟踪算法。Abstract: With the rapid development of sensor communication technologies in recent years, the ability to obtain high-precision data in real time has been greatly enhanced. This facilitates the development of data-driven approaches for solving maneuvering target tracking problems, thereby overcoming the challenges of traditional model-based filters in dealing with poor a-priori model information and high-speed target maneuvering. In particular, deep learning approaches estimate the target state by constructing end-to-end neural networks, which eliminate the reliance on a-priori information at the expense of reliance on training data and lack of physical interpretability. To solve these deficiencies, we combine the advantages of the model-driven interactive multiple model (IMM) algorithm and data-driven long short-term memory (LSTM) network, to propose a deep learning-based multiple-state fusion approach for target track maneuvering.This approach comprises multiple LSTM-based trackers and a single LSTM-based classifier. Each tracker is assigned a separate target motion state, and the trackers are executed in parallel to obtain state estimates. A classifier is used to determine the weight for each motion/tracker, and the final estimate is the weighted average of the estimates of all trackers. Simulation results demonstrated that the proposed algorithm outperforms both the IMM and end-to-end LSTM network-based tracking algorithms in terms of tracking accuracy.