Closed Iterative Correction Algorithm for Multi-target Dynamic Tracking and Positioning
Qingdong Huang, Ran Xiao, Chen Chen, Mei Wang, Zhuang Han · 2022
Aiming at the instability and low accuracy of Generalized Motion Simultaneous Localization and Mapping (GEM-SLAM), a closed iterative update dynamic tracking and location algorithm based on Generalized Labeled Multi-Bernoulli (GLMB) filter is proposed. It consists of two closed iteration modules, which are established to realize the closed-form optimal solutions of sensor node motion correction and multi-target tracking and positioning respectively. The sensor node upon correction can provide more accurate targets measurement, and multi-target tracking and positioning module can obtain stable and accurate results by using this measurement. Experimental simulation verifies the algorithm of this paper, which reflects the excellent characteristics of our algorithm.