Target cross-track labeled hierarchical management for tracking before detection

In order to solve the problem that the target track label cannot be provided by the track-before-detect algorithm and the batch number management is confused by the traditional algorithm in the case of trajectory intersection, a track management method based on label association is proposed. This method marks the non-overlapping labels for each target’s azimuth track, and aims at the problem of the non-conjugate prior of the labeled multi-Bernoulli algorithm. The method of approximating label multi-Bernoulli distribution to \delta -generalized labeled multi-Bernoulli distribution is used to solve this problem. In addition, an auxiliary threshold hierarchical updating method is proposed to assign different labels to different tracks, which solves the problem of track interruption, target loss and wrong tracking in the case of azimuth intersection. The simulation and sea test results show that the average error is stable and close to 0. The positioning accuracy is high and the trajectory is continuous and clear. Moreover, it can also achieve accurate estimation of the target number. It provides a new technical support for underwater target situation awareness method based on sonar array.