Equal probability embedded cubature particle PHD filter algorithm in multi-target tracking

In target tracking, multi-target tracking is the focus of research. It is primarily concerned with the issue of collaboratively estimating the number, state, or trajectory of targets based on sensor measurements in the presence of data association uncertainty, detection uncertainty, false observation, and noise. The current research hotspot in multi-target tracking is nonlinear multi-target tracking based on the probability hypothesis density algorithm. Furthermore, there are several considerations with this algorithm's multi-target tracking, such as low estimate accuracy, filter divergence, and poor real-time performance. Based on equivalent probability sampling and the embedded volume criterion, this article demonstrates an equal probability embedded cubature particle probability hypothesis density filter algorithm. In the sampling stage, the algorithm implements the equal probability sampling method, divides the entire sampling area into several areas with equal probability, extracts particles from each region using the established criteria, generates limited integral points using the third-order embedded volume criterion, filters each sampling particle, fits the important density function, and predicts and updates the probability hypothesis density of multi-target state. The simulation results demonstrate that the equal probability sampling strategy outperforms other multi-target position and number estimation methods. Simultaneously, it demonstrates that the equal probability embedded cubature particle probability hypothesis density filter algorithm can effectively track multiple targets. The equal probability embedded cubature particle probability hypothesis density filter algorithm performs better in real-time and has a more accurate target number and state estimate than other algorithms.