A Detection and Tracking Algorithm for Resolvable Group with Structural and Formation Changes Using the Gibbs-GLMB Filter

In the field of resolvable group target tracking, further study on the structure and formation of group targets is helpful to reduce the tracking error of group bluetargets. In this paper, we propose an algorithm to detect whether the structure or formation state of group targets changes. In this paper, a Gibbs Generalized Labeled Multi-Bernoulli (GLMB) filter is used to obtain the estimation of discernible group target bluestates. After obtaining the state estimation of the group target, we extract relevant information based on the estimation data to judge whether the structure or formation state has changed. Finally, several experiments are carried out to verify the algorithm.