Aiming at the complex uncertainty multi-target tracking where both the motion process and observation process are disturbed by anomalous noise,this paper innovatively proposes a Student's t mixture Poisson multi-Bernoulli mixture filter.First,the anomalous noise characteristics of the wide-area distribution are directly modeled as the Student's t distribution.Subsequently,the probability density parameters of the Poisson point process(PPP)and the multi-Bernoulli mixture(MBM)of the Poisson multi-Bernoulli mixture filter are reasonably approximated by the Student's t mixture form.Moreover,based on the Student's t mixture model which approximates the multi-target probability density,the Student's t mixture conjugate prior form of Poisson multi-Bernoulli mixture filter is derived in detail and a closed-form recursive framework of Student's t mixture Poisson multi-Bernoulli mixture is established.Finally,the effectiveness of the proposed filtering algorithm is verified by complex multi-target tracking simulation experiments under the joint interference of process noise and measurement noise with significant trailing distribution characteristics.
关键词
随机有限集/多目标跟踪/学生t混合/厚尾噪声/泊松多伯努利混合
Key words
random finite set/multi-target tracking/Student's t mixture/heavy-tail noise/Poisson multi-Bernoulli mixture
维普
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