MM-GLMB Filter-Based Sensor Control for Tracking Multiple Maneuvering Targets Hidden in the Doppler Blind Zone

To track multiple maneuvering targets hidden in the Doppler blind zone (DBZ), we have proposed an MM-GLMB-DBZ tracker based on the latest multiple model generalized labeled multi-Bernoulli (MM-GLMB) filter. To further enhance the tracking performance, this paper combines the sensor control technique to the MM-GLMB-DBZ tracker. Macroscopically, the proposed algorithm consists of the MM-GLMB-DBZ tracker and a controller. Unlike conventional control approaches where separate prediction and update implementations are usually adopted, the proposed control algorithm constructs a systematic process flow for the joint prediction and update implementation of GLMB-like filters. Moreover, inside the core controller module, we apply the previously designed safety indicator and reward function for avoiding the DBZ, and derive the Cauchy-Schwarz divergence (CSD) compatible with the tracker. Hence, this control algorithm considers such factors as the safety of the sensor itself, the DBZ avoidance, and the improvement of the tracking accuracy. Numerical examples verify the effectiveness of the proposed control scheme, showing that it is significantly better than the random control strategy, the original MM-GLMB-DBZ tracker without the control technology, and the state-of-the-art control approach.