| A Track Initiation Method for the Underwater Target Tracking Environment |
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| 作者姓名： | LI Dong-dong LIN Yang ZHANG Yao |
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| 作者单位： | State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China;University of Chinese Academy of Sciences, Beijing 100049, China,State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China,State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China |
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| 基金项目： | The research was financially supported by the Key Research Program of the Chinese Academy of Sciences (Grant No. KGFZD-125-014), the National Natural Science Foundation of China (Grant No. 61273334) and State Key Laboratory of Robotics Foundation (Grant No. 2017-Z05). |
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| 摘 要： | A novel efficient track initiation method is proposed for the harsh underwater target tracking environment (heavy clutter and large measurement errors): track splitting, evaluating, pruning and merging method (TSEPM). Track initiation demands that the method should determine the existence and initial state of a target quickly and correctly. Heavy clutter and large measurement errors certainly pose additional difficulties and challenges, which deteriorate and complicate the track initiation in the harsh underwater target tracking environment. There are three primary shortcomings for the current track initiation methods to initialize a target: (a) they cannot eliminate the turbulences of clutter effectively; (b) there may be a high false alarm probability and low detection probability of a track; (c) they cannot estimate the initial state for a new confirmed track correctly. Based on the multiple hypotheses tracking principle and modified logic-based track initiation method, in order to increase the detection probability of a track, track splitting creates a large number of tracks which include the true track originated from the target. And in order to decrease the false alarm probability, based on the evaluation mechanism, track pruning and track merging are proposed to reduce the false tracks. TSEPM method can deal with the track initiation problems derived from heavy clutter and large measurement errors, determine the target’s existence and estimate its initial state with the least squares method. What''s more, our method is fully automatic and does not require any kind manual input for initializing and tuning any parameter. Simulation results indicate that our new method improves significantly the performance of the track initiation in the harsh underwater target tracking environment.
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| 关 键 词： | track initiation track splitting track evaluating track pruning track merging large measurement errors heavy clutter harsh underwater environment TSEPM |
| 收稿时间： | 2017/5/23 0:00:00 |
| 修稿时间： | 2017/8/3 0:00:00 |
A Track Initiation Method for the Underwater Target Tracking Environment |
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| LI Dong-dong,LIN Yang,ZHANG Yao.A Track Initiation Method for the Underwater Target Tracking Environment[J].Ocean Engineering,2018,32(2):206-215. |
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| Authors: | LI Dong-dong LIN Yang and ZHANG Yao |
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| Institution: | State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China;University of Chinese Academy of Sciences, Beijing 100049, China,State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China and State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China |
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| Abstract: | |
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| Keywords: | track initiation track splitting track evaluating track pruning track merging large measurement errors heavy clutter harsh underwater environment TSEPM |
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