Multi-target tracking method based on SMC-PHD filter

The invention relates to a multi-target tracking method based on an SMC-PHD filter, and the method comprises the steps: endowing each new particle with a unique label according to the initial state and new time of a new target, and enabling the label to remain unchanged in the whole filtering recursion process, therefore, the target state estimation at each moment can be obtained, and the trajectory of each target can be obtained at the same time. And in the target state extraction stage, the weighted average value of the particles corresponding to the same label is used as the state estimation value of the target, so that the problem that the target state estimation error is relatively large in the prior art is solved. 本申请涉及一种基于SMC-PHD滤波器的多目标跟踪方法，所述方法包括：通过根据新生目标的初始状态和新生时刻给每个新生粒子赋予唯一的标签，该标签在整个滤波递归过程中保持不变，这样使得在得到各时刻目标状态估计的同时还可以得到各目标的轨迹。并且在目标状态提取阶段，相同标签对应的粒子的加权平均值即作为该目标的状态估计值，以解决现有技术中目标状态估计误差较大的问题。