The cluster target brings a serious challenge to the traditional multisensor multitarget tracking algorithm because of its large number of members and the cooperative interaction between members. Using multiradar joint tracking cluster target is an alternative method to solve the problem of cluster target tracking, but it inevitably brings the problem of radar-target assignment and tracking information fusion. Aiming at the problem of radar-target assignment and tracking information fusion, a joint tracking method based on graph-long short-term memory neural nets (Graph-LSTMs) is proposed. Firstly, we use multivariable stochastic differential equations (SDE) to model the cooperative interaction of cluster members and transform the derived state space model of cluster members into the same form as the constant velocity (CV) motion model, and the target state equation of cluster which can be used for Bayesian filtering iteration is established. Secondly, based on the detection relationship between radars and cluster members, we introduce the detection confirmation matrix and propose a radar-target assignment method to achieve multiple measurements of single member and detection coverage of all cluster members. Then, each radar uses δ-GLMB filter to estimate the motion state of the assigned targets. Finally, on the basis of spatial discretization, the labels of multiple estimates of cluster member states are obtained. We use the designed Graph-LSTMs to learn the cooperative relationship between target states to fuse the labels and obtain better tracking effect. The experimental results show that the proposed method effectively simulates the cluster motion and realizes the joint estimation of cluster target motion state by multiradar. Our method makes up for the defect that a single radar cannot stably track adjacent multiple targets and achieves better estimation fusion effect than the expectation-maximization (EM) algorithm and mean method.
In this paper, we consider the problem of motion intention recognition for cluster targets with splitting behaviour and lack of motion prior information. This is a challenge to the classical Bayesian inference based intention recognition algorithms because they rely heavily on a priori knowledge. In order to solve these problems, a joint algorithm of deep echo state network optimized by adaptive genetic algorithm (AGADESN) and DBSCAN clustering algorithm is proposed in this paper. We use improved Olfati-Saber model with direction noise to generate cluster motion and use the cluster motion data to drive AGADESN algorithm to predict cluster destination, which achieves higher destination prediction accuracy than DESN algorithm. We innovatively design the motion similarity distance (MSD) and take the destination prediction output as one of the distance inputs, alleviating the lack of differentiation among different cluster targets caused by only relying on speed and position distance at the early stage of cluster motion. Based on the MSD, DBSCAN clustering algorithm is used to identify clusters in the field of view to determine whether splitting behaviour occurs. Simulation results demonstrate the effectiveness of the proposed algorithm in cluster target motion intention recognition and its superiority over DESN algorithm and DBSCAN algorithm only based on speed and position distance.
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