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  • https://doi.org/10.1109/iccais.2018.8570672Copy DOI Icon

SMC-PHD Target State Extraction Based on CFSFDP Clustering Algorithm

  • Oct 1, 2018
  • Feng Yang +2 more
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Abstract

The Sequential Monte Carlo PHD (SMC-PHD) filter which can solve the target tracking problems in nonlinear and non-Gaussian systems is an effective PHD implementation. The target state at each moment is characterized by a large number of weighted particles in the filtering algorithm. Therefore, extracting the target state effectively is the key to implementing SMC-PHD filtering. In the SMC-PHD filtering algorithm, the traditional K-means state extraction method commonly used is seriously affected by the initial clustering center which is prone to state estimation errors. To solve the above problems, a multi-target state extraction method based on Clustering Fast Search and Find of Density Peaks (CFSFDP) clustering algorithm is proposed. Based on numbers of weighted particles output by the SMC-PHD filter, the clustering centers and categories are clustered using the spatial distribution information of the particles, namely local density, distance, and weight information of the particles. Then, multiple target estimated states are extracted from each cluster. The simulation results show that the algorithm proposed in this paper significantly improves the accuracy of the algorithm compared with the classical K-means clustering method and the method Ristic proposed.

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