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

fYear

1999

fDate

1999

Firstpage

267

Lastpage

272

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;

fLanguage

English

Publisher

ieee

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

Type

conf

DOI

10.1109/MFI.1999.816001

Filename

816001