DocumentCode :
3428084
Title :
Research on SR_UPF ground moving target tracking algorithm using road information
Author :
Caicai, Gao ; Wei, Chen
Author_Institution :
Sch. of Electron. & Inf. Eng., Beihang Univ., Beijing, China
fYear :
2010
fDate :
24-28 Oct. 2010
Firstpage :
1259
Lastpage :
1262
Abstract :
A kind of tracking algorithm using square root unscented particle filter is proposed to solve nonlinear problem caused by maneuverability of target and low measurement update rate in ground moving target tracking. Unscented transform is used to transfer state estimation and covariance matrix, where the covariance matrix has been extracted. From this, importance sampling used in particle filter can be gained. Then, the state estimation which is obtained through particle filter is projected to road according to road information if it is off road. Using one ground moving target indication sensor to track a target on road, simulation results show that the proposed algorithm can effectively solve nonlinear problem in ground moving target tracking. Compared with the conventional particle filter algorithm, the proposed algorithm not only advances the tracking precision, also reduces the needed number of particles which mean less run time will be taken. Another way, tracking performance can be further improved due to using of road information.
Keywords :
covariance matrices; particle filtering (numerical methods); roads; state estimation; target tracking; traffic information systems; transforms; SR_UPF ground moving target tracking algorithm; conventional particle filter algorithm; covariance matrix; ground moving target indication sensor; importance sampling; low measurement update rate; maneuverability; nonlinear problem; road information; square root unscented particle filter; transfer state estimation; unscented transform; Covariance matrix; Mathematical model; Particle filters; Radar tracking; Roads; State estimation; Target tracking; SR_UPF algorithm; ground moving target; road information; state estimate processing; target tracking;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Signal Processing (ICSP), 2010 IEEE 10th International Conference on
Conference_Location :
Beijing
Print_ISBN :
978-1-4244-5897-4
Type :
conf
DOI :
10.1109/ICOSP.2010.5657169
Filename :
5657169
Link To Document :
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