Multi-Target Localization and Tracking Using TDOA and AOA Measurements Based on Gibbs-GLMB Filtering

Area of Science:

• Acoustics
• Signal Processing
• Robotics

Background:

• Traditional multi-target tracking faces challenges with measurement uncertainties like misdetections and false alarms.
• Data association in cluttered environments is a significant hurdle in target trajectory estimation.

Purpose of the Study:

• To propose a novel non-concurrent multi-target acoustic localization tracking method.
• To address target trajectory and state estimation problems in cluttered environments.

Main Methods:

• Utilizes a Gibbs-generalized labelled multi-Bernoulli (Gibbs-GLMB) filter for tracking.
• Employs an acoustic array with fixed arrangement for joint time difference of arrival (TDOA) and angle of arrival (AOA) measurements.
• Calculates TDOAs using the generalized cross-correlation algorithm (GCC) and derives AOAs from signal directions.

Main Results:

• The proposed Gibbs-GLMB filter effectively fuses independent target measurements.
• The method demonstrates successful tracking of multiple targets in simulations.
• Monte Carlo simulations verified the effectiveness of the acoustic localization tracking approach.

Conclusions:

• The developed acoustic tracking method provides a robust solution for multi-target scenarios.
• The joint TDOA and AOA measurement fusion with Gibbs-GLMB filter enhances tracking accuracy in cluttered environments.