Authors:
Qian Zhang
and
Taek Lyul Song
Affiliation:
Hanyang University, Korea, Republic of
Keyword(s):
Nonlinear Estimation, Very Long Range Tracking, Gaussian Mixtures, GMM-ITS.
Related
Ontology
Subjects/Areas/Topics:
Engineering Applications
;
Informatics in Control, Automation and Robotics
;
Intelligent Control Systems and Optimization
;
Modeling, Analysis and Control of Discrete-event Systems
;
Nonlinear Signals and Systems
;
Robotics and Automation
;
Sensors Fusion
;
Signal Processing, Sensors, Systems Modeling and Control
;
System Modeling
Abstract:
Target tracking with very long range is studied in this paper. Such tracking problem has severe measurement
nonlinearity that will cause consistency problems and large tracking errors. Gaussian mixture measurements
are obtained by dividing the measurement likelihood into several Gaussian components. The Gaussian Mixture
Measurement-Integrated Track Splitting (GMM-ITS) is applied to very long range tracking scenarios. The
simulation results show that the GMM-ITS can produce consistency in the filtering results crucial to the filter
performance. Furthermore, it is also able to estimate the target state accurately with small tracking errors.