Abstract
In this study, we extend traditional (single-target) hybrid systems to multi-target hybrid systems with a focus on the multi-maneuvering-target tracking system. This system consists of a continuous state, a discrete and switchable state, and a discrete, time-constant, and unique state. By defining a new generalized labeled multi-Bernoulli density, we prove that it is closed under the Chapman-Kolmogorov prediction and Bayes update for multi-target hybrid systems. In other words, we provide the exact derivation of a solution to this system, i.e., the multi-model generalized labeled multi-Bernoulli filter, which has been developed without strict proof.
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Project supported by the National Natural Science Foundation of China (No. 61601510) and the Young Talent Support Project of China Association for Science and Technology (No. 18-JCJQ-QT-008)
Contributors
Weihua WU designed the research. Weihua WU, Mao ZHENG, Xun FENG, and Zewen GUAN drafted the manuscript. Yichao CAI and Hongbin JIN helped organize the manuscript. Weihua WU revised and finalized the paper.
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Weihua WU, Yichao CAI, Hongbin JIN, Mao ZHENG, Xun FENG, and Zewen GUAN declare that they have no conflict of interest.
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Wu, W., Cai, Y., Jin, H. et al. Derivation of the multi-model generalized labeled multi-Bernoulli filter: a solution to multi-target hybrid systems. Front Inform Technol Electron Eng 22, 79–87 (2021). https://doi.org/10.1631/FITEE.2000105
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DOI: https://doi.org/10.1631/FITEE.2000105
Key words
- Multi-maneuvering-target tracking
- Multi-model
- Generalized labeled multi-Bernoulli filter
- Multi-target hybrid systems