The Journal of the Acoustical Society of Korea (한국음향학회지)

The Acoustical Society of Korea (한국음향학회)
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Performance analysis of automatic target tracking algorithms based on analysis of sea trial data in diver detection sonar

수영자 탐지 소나에서의 해상실험 데이터 분석 기반 자동 표적 추적 알고리즘 성능 분석

  • Received : 2019.05.15
  • Accepted : 2019.07.01
  • Published : 2019.07.31
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Abstract

In this paper, we discussed automatic target tracking algorithms for diver detection sonar that observes penetration forces of coastal military installations and major infrastructures. First of all, we analyzed sea trial data in diver detection sonar and composed automatic target tracking algorithms based on track existence probability as track quality measure in clutter environment. In particular, these are presented track management algorithms which include track initiation, confirmation, termination, merging and target tracking algorithms which include single target tracking IPDAF (Integrated Probabilistic Data Association Filter) and multitarget tracking LMIPDAF (Linear Multi-target Integrated Probabilistic Data Association Filter). And we analyzed performances of automatic target tracking algorithms using sea trial data and monte carlo simulation data.

본 논문은 연안 군사시설 및 주요 기반시설에 대한 침투세력을 감시하는 수영자 탐지 소나에서의 자동 표적추적 알고리즘을 다루었다. 이를 위해 수영자 탐지 소나에서의 해상실험 데이터를 분석하였고, 클러터 환경에서 자동표적 추적을 위한 트랙평가수단으로서 트랙존재확률 기반의 알고리즘을 적용하여 시스템을 구성하였다. 특히 트랙초기화, 확정, 제거, 합병 등의 트랙관리 알고리즘과 단일표적추적 IPDAF(Integrated Probabilistic Data Association Filter), 다중표적추적 LMIPDAF(Linear Multi-target Integrated Probabilistic Data Association Filter) 등의 표적추적 알고리즘을 제시하였으며, 해상실험 데이터 및 몬테카를로 모의실험 데이터를 이용하여 성능을 분석하였다.

Keywords

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Fig. 1. Detection results by thresholds.

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Fig. 2. Detection results by false detection elimination algorithms.

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Fig. 3. Diagram of automatic target tracking algorithm based on track existence probability in diver detection sonar.

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Fig. 4. Relationship map of track state.

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Fig. 5. A example of automatic target tracking.

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Fig. 6. Situation of multi-target tracking.

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Fig. 7. Sea trial data.

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Fig. 8. The number of detection data.

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Fig. 9. Confirmed tracks.

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Fig. 10. Confirmed true track.

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Fig. 11. The number of tentative and confirmed tracks.

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Fig. 12. Simulation scenario.

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Fig. 13. IPDAF single simulation results.

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Fig. 14. LMIPDAF single simulation results.

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Fig. 15. Confirmed true track rate.

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Fig. 16. Position RMSE at x - ­axis.

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Fig. 17. Position RMSE at y - ­axis.

Table 1. Speed for detection data of 2 scans.

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Table 2. Simulation conditions.

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