Bayesian Tracking of Two Possibly Unresolved Maneuvering Targets

H.A.P. Blom*, E.A. Bloem

*Corresponding author for this work

Research output: Contribution to journalArticleScientificpeer-review

Abstract

The paper studies the problem of maintaining tracks of two targets that may maneuver in and out formation flight, whereas the sensor and measurement extraction chain produces false and possibly unresolved or missing measurements. If the possibility of unresolved measurements is not modelled then it is quite likely that either the two tracks coalesce or that one of the two tracks diverges on false measurements. In literature a robust measurement resolution model has been incorporated within an interacting multiple model/multiple hypothesis tracking (IMM/MHT) track maintenance setting. A straightforward
incorporation of the same model within an IMM and probabilistic data association (PDA)-like hypothesis merging approach suffers from track coalescence. In order to improve this situation, the paper develops a track-coalescence avoiding hypotheses merging version for the two target problem considered. Through Monte Carlo simulations, the novel filters are compared with applying hypotheses merging approaches that ignore the possibility of unresolved measurements or track-coalescence.
Original languageEnglish
Pages (from-to)612-627
Number of pages16
JournalIEEE Transactions on Aerospace and Electronic Systems
Volume43
Issue number2
DOIs
Publication statusPublished - 2007
Externally publishedYes

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