A Target Tracking Method Based on Box-particle Filter Under Measurement Uncertainty
There is significant uncertainty in the measurements of active sonar in terms of range-bearing resolution because of the complex underwater environment.In this case,the energy of the target echo may occupy multiple adjacent coordinate grids in the sonar range-bearing energy spectrum.Moreover,the measurement uncertainty mentioned above will cause multiple regional clutter interferences when there exists strong reverberation in the environment.To reduce the bias of state space estimation,Particle Filtering(PF)based tracking methods require a large number of particles to approximate the posterior probability density,resulting in a rapid decrease in real-time tracking performance.A Box-Particle Filtering tracking method based on Interval measurement(IBPF)is proposed to address the above problem.IBPF utilizes a box particle with range-bearing intervals instead of point measurements of active sonar,which greatly reduces the number of particles required for posterior probability density estimation while improving the stability of state estimation,and can further improve computational efficiency.The experiment result shows that the proposed IBPF achieves better tracking performance with higher computational efficiency,which reduces computation time by 18.06%and increases the number of successful tracking frames by 4.29%.