Fuzzy Data Association-Towards Better Uncertainty Tracking in Clutter Environments

Abstract

The goal of explainable artificial intelligence (XAI) is to solve problems in a way that humans can understand how it does it. For data association there is growing demand for XAI, in which the measurement uncertainty and target (dynamic or/and measurement) model uncertainty are two fundamental problems in maneuvering target tracking in clutter. It commonly suffers of false alarms and missed detections. These situations focus on enhancing explainability, mitigating bias and creating better outcomes for all. Most the probabilistic data association (PDA) methods are weakly able, or even unable, to explain data association. To overcome these situations, the XAI components employed of two modules of Fuzzy-joint probability data association (FJDA) and Fuzzy maneuver compensator (FMC) are first established. Next, these two modules are further employed to construct maneuver tracking scheme, FJDA is then utilized to evaluate the association degree of measurements belonging to different targets and FMC plays compensation role in accordance with maneuver need. The performances of the proposed maneuver tracking scheme were compared with the PDA method and the joint probabilistic data association (JPDA) method using simulated radar surveillance data under a high cluttered environment. The numerical simulation proposed maneuver tracking scheme embedded XAI components FJDA/FCM having a remarkable improvement, due to fully utilize the useful knowledge information in the data association and reduces the impact of measurement uncertainties of the maneuvering target tracking with changing dynamics.