Decorrelated state estimation for distributed tracking of interacting targets in cluttered environments

Author

Khawsuk, Weerawat ; Pao, Lucy Y.

Author_Institution

Dept. of Electr. & Comput. Eng., Colorado Univ., Boulder, CO, USA

Volume

2

fYear

2002

fDate

2002

Firstpage

899

Abstract

This paper develops a process to construct decorrelated state estimates when tracking in cluttered environments using a distributed fusion architecture. This construction removes correlation with previous state estimates from the current updates in order to use the updates as measurements in the Kalman filter at the global processor. The effects of correlation with other interacting targets are also investigated for multiple target tracking. The algorithm to construct the decorrelated sequences is presented and applied on a particular distributed architecture where each processor receives measurements from only one sensor.

Keywords

Kalman filters; decorrelation; distributed processing; filtering theory; parallel architectures; sensor fusion; state estimation; target tracking; Kalman filter; cluttered environments; correlation; decorrelated sequence construction; decorrelated state estimation; distributed fusion architecture; distributed tracking; global processor; interacting targets; multiple target tracking; state estimates; tracking; Air traffic control; Computer architecture; Current measurement; Decorrelation; Mobile robots; Particle measurements; Sensor fusion; State estimation; Surveillance; Target tracking;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, 2002. Proceedings of the 2002

ISSN

0743-1619

Print_ISBN

0-7803-7298-0

Type

conf

DOI

10.1109/ACC.2002.1023130

Filename

1023130