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

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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A Variable Dimensional Structure with Probabilistic Data Association Filter for Tracking a Maneuvering Target in Clutter Environment

클러터 환경하에서 기동표적의 추적을 위한 가변차원 확률 데이터 연관 필터

  • 안병완 (GM DAEWOO Auto & Technology, 기술연구소) ;
  • 최재원 (부산대학교 기계공학부 및 기계기술연구소) ;
  • 송택렬 (한양대학교 전자전기제어계측공학과)
  • Published : 2003.10.01
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Abstract

An enhancement of the probabilistic data association filter is presented for tracking a single maneuvering target in clutter environment. The use of the variable dimensional structure leads the probabilistic data association filter to adjust to real motion of a target. The detection of the maneuver for the model switching is performed by the acceleration estimates taken from a bias estimator of the two stage Kalman filter. The proposed algorithm needs low computational power since it is implemented with a single filtering procedure. A simple Monte Carlo simulation was performed to compare the performance of the proposed algorithm and the IMMPDA filter.

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References

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