Title :
IMMPDA filter via perception net
Author :
Choi, Jae Weon ; Fang, Tae Hyun ; Lee, Shi Bok
Author_Institution :
Sch. of Mech. Eng., Pusan Nat. Univ., South Korea
Abstract :
This paper presents an improved performance of the IMMPDA (interacting multiple model with probabilistic data association) filter with the detecting capability of a maneuvering. In order to detect the maneuvering of a target, an error monitoring and recovery method of perception net is applied to the IMMPDA filter. This method is derived as an extension of the previous results given by Choi et al. (1999) on tracking for a maneuvering target without clutter. The effectiveness of the proposed method is validated through simulations by comparing it with the conventional IMMPDA filter
Keywords :
covariance matrices; error statistics; filtering theory; probability; sensor fusion; state estimation; target tracking; IMMPDA filter; covariance matrix; error monitoring; error recovery; interacting multiple model; perception net; probabilistic data association; probability; sensor fusion; state estimation; target tracking; Covariance matrix; Ellipsoids; Filters; Gaussian noise; Noise measurement; Random variables; Sensor fusion; Sensor systems; Target tracking; Time measurement;
Conference_Titel :
Multisensor Fusion and Integration for Intelligent Systems, 1999. MFI '99. Proceedings. 1999 IEEE/SICE/RSJ International Conference on
Conference_Location :
Taipei
Print_ISBN :
0-7803-5801-5
DOI :
10.1109/MFI.1999.816001
