Adaptive delta-GLMB filter multi-target tracking method and system

The invention discloses a self-adaptive delta-GLMB filter multi-target tracking method and system, and belongs to the field of filter target tracking method.The method comprises the steps that a to-be-estimated single-target data set is selected, and priori knowledge or sensor measurement is used for initializing single-target state distribution; constructing an NNIWNIWGG hybrid model, updating the weight, the mean value, the covariance matrix and the degree of freedom of the NNIWNIWGG hybrid model, updating single target state distribution through measurement information collected by a sensor, and obtaining a single target prediction result; according to the obtained single-target prediction result, a self-adaptive delta-GLMB filter is adopted to determine multi-target state distribution; and constructing an RFS measurement model, calculating an association weight between the component and the measurement of the multi-target state according to the component and the measurement of the multi-target state distr