BP-PMBM filtering algorithm-based multi-target tracking method

The invention discloses a BP-PMBM filtering algorithm-based multi-target tracking method. The method comprises the following steps of: (1) initializing an algorithm; (2) predicting a target state; (3) updating the target state; (4) trimming the Poisson component and the MBM component in the target state; (5) carrying out box particle re-sampling on the Poisson component and the MBM component; (6) estimating the target state to obtain a global target state estimation value. The BP-PMBM filtering algorithm-based multi-target tracking method provided by the invention has the advantages of high tracking precision, high operation speed, capability of distinguishing tracks and the like. 本发明公开了一种基于BP-PMBM滤波算法的多目标跟踪方法，包括：(1)初始化算法；(2)对目标状态进行预测；(3)更新所述目标状态；(4)对所述目标状态中的Poisson分量和MBM分量进行修剪；(5)对所述Poisson分量和所述MBM分量进行箱粒子重采样；(6)对所述目标状态进行估计，得到全局目标状态估计值。本发明提供的基于BP-PMBM滤波算法的多目标跟踪方法具有跟踪精度高、运算速度快、可区分航迹等优点。