Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지
DOI QR코드

DOI QR Code

Maneuvering Target Tracking Using Modified Variable Dimension Filter with Input Estimation

수정된 가변차원 입력추정 필터를 이용한 기동표적 추적

  • 안병완 (부산대학교 기계공학부) ;
  • 최재원 (부산대학교 기계공학부 및 기계기술연구소) ;
  • 황태현 (부산대학교 기계공학부 및 기계기술연구소) ;
  • 송택렬 (한양대학교 전자전기제어계측공학과)
  • Published : 2002.11.01
Download PDF
⟨ Previous Next ⟩

Abstract

We presents a modified variable dimension filter with input estimation for maneuvering target tracking. The conventional variable dimension filter with input estimation(VDIE) consists of the input estimation(IE) technique and the variable dimension(VD) filter. In the VDIE, the IE technique is used for estimation of a maneuver onset time and its magnitude in the least square sense. The detection of the maneuver is declared according to the estimated magnitude of the maneuver. The VD filter structure is applied for the adaptation to the maneuver of the target after compensating the filter parameter with respect to the estimated maneuver when the detection of the maneuver is declared. The VDIE is known as one of the best maneuvering target tracking filter based on a single filter. However, it requires too much computational burden since the IE technique is performed at every sampling instance and thus it is computationally inefficient. We propose another variable dimension filter with input estimation named 'Modified VDIE' which combines VD filter with If technique. Modified VDIE has less computational load than the original one by separating maneuver detection and input estimation. Simulation results show that the proposed VDIE is more efficient and outperforms in terms of computational load.

Keywords

References

  1. Y. Bar-Shalom, and T. E. Fortmann, Tracking and Data Association, Academic Press, 1988
  2. H. A. P. Blom, and Y. Bar-Shalom, 'The interacting multiple model algorithm for systems with markovian switching coefficients,' IEEE Transactions on Automatic Control, Vol. AC-33, No. 8, pp. 780-783, Aug. 1988 https://doi.org/10.1109/9.1299
  3. 최재원, 황태현, 홍금식, '오류모니터링 및 회복 기법을 이용한 클러터 환경 하에서 기동표적 추적', 한국항공우주학회지, 제27권, 제5호, pp. 90-101, 8. 1999
  4. A. Houles, and Y. Bar-Shalom, 'Multisensor tracking of a maneuvering target in clutter,' IEEE Transactions on Aerospace and Electronic Systems, Vol. AES-25, No. 2, pp. 176-188, Mar. 1989 https://doi.org/10.1109/7.18679
  5. D. Lerro, and Y. Bar-Shalom, 'Interacting multiple model tracking with target amplitude feature,' IEEE Transactions on Aerospace and Electronic Systems, Vol. 29, No. 2, pp. 494-509, Apr. 1993 https://doi.org/10.1109/7.210086
  6. R. J. Dempster, S. S. Blackman, and T. S. Nichols, Combining IMM filtering and MHT data association for multitarget tracking,' Proceedings of the Twenty-Ninth Southeastern Symposium on System Theory, pp. 123-127, 1997
  7. B. Chen, and J. K. Tugnait, 'Tracking of multiple maneuvering targets in clutter using IMM/JPDA filtering and Fixed-Lag smoothing,' Automatica, Vol. 37, No. 2, pp. 239-249, Feb. 2001 https://doi.org/10.1016/S0005-1098(00)00158-8
  8. Y. Bar-Shalom, and K. Birmiwal, 'Variable dimension filter for maneuvering target tracking,' IEEE Transac -tions on Aerospace and Electronic Systems, Vol. AES-18, No. 5, pp. 621-629, Sep. 1982 https://doi.org/10.1109/TAES.1982.309274
  9. Y. T. Chan, A. G. C. Hu, and J. B. Plant, 'A Kalman filter based tracking scheme with input estimation,' IEEE Transactions on Aerospace and Electronic Systems, Vol. AES-15, No. 2, pp. 237-244, Mar. 1979 https://doi.org/10.1109/TAES.1979.308710
  10. P. L. Bogler, 'Tracking a maneuvering target using input estimation,' IEEE Transactions on Aerospace and Electro -nic Systems, Vol. AES-23, No. 3, pp. 298-310, May 1987 https://doi.org/10.1109/TAES.1987.310826
  11. Y. H. Park, J. H. Seo, and J. G. Lee, 'Tracking using the Variable-Dimension filter with input estimation,' IEEE Transactions on Aerospace and Electronic Systems, Vol. AES-31, No. 1, pp. 399-408, Jan. 1995 https://doi.org/10.1109/7.366321
  12. Y. Bar-Shalom, and X. R. Li, Estimation and Tracking -Principles, Techniques, and Software, Artech House, 1993
  13. R. A. Singer, 'Estimating optimal tracking filter performance for manned maneuvering targets,' IEEE Transactions on Aerospace and Electronic Systems, Vol. AES-6, No. 4, pp. 473-483, July 1970 https://doi.org/10.1109/TAES.1970.310128
  14. A. Gelb, Appled Optimal Estimation, M. I. T. Press, pp.107-121, 1974