期刊
IEE PROCEEDINGS-RADAR SONAR AND NAVIGATION
卷 150, 期 6, 页码 389-395出版社
INST ENGINEERING TECHNOLOGY-IET
DOI: 10.1049/ip-rsn:20030933
关键词
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A simple elliptical target model is proposed for exploiting sensor measurements of target extent,within tracking filters. This extra information can provide a most useful aid to track retention for closely spaced moving targets with measurement association uncertainty. Tracking performance has been demonstrated for an extended Kalman filter (EKF) implementation using second-order (constant velocity) and co-ordinated turn dynamics models with nearest neighbour and joint probabilistic data association measurement selection schemes. Under certain conditions, this EKF implementation is prone to divergence and it is shown that a straightforward particle filter can avoid this problem.
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