Title :
Comparison of some Kalman filter based methods for manoeuvre tracking and detection
Author :
Isaksson, Alf J. ; Gustafsson, Fredrik
Author_Institution :
Dept. of Signals, Sensors & Syst., R. Inst. of Technol., Stockholm, Sweden
Abstract :
This paper describes general modelling of radar target tracking scenarios. Manoeuvres are modelled using a stochastic continuous-time model. The goal of this paper is twofold: to compare two different choices of velocity coordinates, and to compare two different manoeuvre models leading to pruning and merging of the filter bank respectively. Simulation results indicate that velocity and heading should be used as states. Regarding merging and pruning there seems to be a trade-off between performance at the beginning of the turn and the steady-state accuracy
Keywords :
Kalman filters; Markov processes; radar tracking; state estimation; stochastic processes; Kalman filter based methods; filter bank; manoeuvre tracking; merging; pruning; radar target tracking; steady-state accuracy; stochastic continuous-time model; target detection; Equations; Filter bank; Merging; Radar detection; Radar tracking; Sensor phenomena and characterization; Sensor systems; State estimation; Stochastic processes; Target tracking;
Conference_Titel :
Decision and Control, 1995., Proceedings of the 34th IEEE Conference on
Conference_Location :
New Orleans, LA
Print_ISBN :
0-7803-2685-7
DOI :
10.1109/CDC.1995.480354
