Improved Integrated Probabilistic Data Association Algorithm Based on Amplitude Information
LI Wei1,2, LI Yiping1,2, FENG Xisheng1
1. State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China;
2. University of Chinese Academy of Sciences, Beijing 100049, China
In order to further improve the estimation performance of the PDA (probabilistic data association) algorithm by using AI (amplitude information), an improved IPDA (integrated PDA) algorithm based on AI is proposed, in which the target existence problem in tracking process is considered.The likelihood ratio of amplitude is introduced to compute the probability of target existence and the association probability, which can improve the tracking performance of IPDA algorithm and the rapidity of judging existence for targets, and reduce probability of tracking loss.Finally, simulation results prove the effectiveness of the proposed algorithm.
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