Journal
IEE PROCEEDINGS-CONTROL THEORY AND APPLICATIONS
Volume 153, Issue 6, Pages 721-731Publisher
INST ENGINEERING TECHNOLOGY-IET
DOI: 10.1049/ip-cta:20050047
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Ground target tracking is a nonlinear filtering problem when it incorporates terrain and road constraints into system modelling and uses polar coordinate sensing. Furthermore, when tracking ground manoeuvring targets with an interacting multiple model approach, a non-Gaussian problem exists because of an inherent mixing operation. A multirate interacting multiple model particle filter (MRIMM-PF) is presented to effectively solve the problem of nonlinear and non-Gaussian tracking, with an emphasis on computational savings. The sample subset of each mode is updated at a different rate and mode switches are performed according to a Markov chain at a low rate. For a fixed number of samples, simulation results show that the MRIMM-PF significantly reduces computational costs, with comparable tracking performance to multiple model particle filter.
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