In this paper we consider a nonlinear bearing-only target tracking problem using three different methods and compare their performances. The study is motivated by a ground surveillance problem where a target is tracked from an airborne sensor at an approximately known altitude using depression angle observations. Two nonlinear suboptimal estimators, namely, the extended Kalman Filter (EKF) and the pseudomeasurement tracking filter are applied in a 2-D bearing-only tracking scenario. The EKF is based on the linearization of the nonlinearities in the dynamic and/or the measurement equations. The pseudomeasurement tracking filter manipulates the original nonlinear measurement algebraically to obtain the linear-like structured measurement. Finally, the particle filter, which is a Monte Carlo integration based optimal nonlinear filter and has been presented in the literature as a better alternative to linearization via EKF, is used on the same problem. The performances of these three different techniques in terms of accuracy and computational load are presented in this paper. The results demonstrate the limitations of these algorithms on this deceptively simple tracking problem.

Abstract-This paper provides the exact solution of multiple sensor bias estimation problem based on local tracks. It is shown that the bias estimate can be obtained dynamically using the outputs of the local (biased) state estimators. This is accomplished by manipulating the local state estimates such that they yield pseudomeasurements of the sensor biases with additive noises that are zero-mean, white and with easily calculated covariances. These results allow evaluation of the Cramer-Rao Lower Bound (CRLB) on the covariance of the bias estimate, i.e., the quantification of the available information about the biases in any scenario. Monte Carlo simulations show that this method has significant improvement of performance with reducing the RMS errors about 60-80% comparing to the commonly used decoupled Kalman filtering method. Furthermore, the new method is shown be statistically efficient, i.e., it meets the CRLB. The extension of the new technique for dynamically varying biases is also presented.

Multi-label text classification (MLTC) aims to tag most relevant labels for the given document. In this paper, we propose a Label-Specific Attention Network (LSAN) to learn the new document representation. LSAN takes advantage of label semantic information to determine the semantic connection between labels and document for constructing labelspecific document representation. Meanwhile, the self-attention mechanism is adopted to identify the label-specific document representation from document content information. In order to seamlessly integrate the above two parts, an adaptive fusion strategy is designed, which can effectively output the comprehensive document representation to build multilabel text classifier. Extensive experimental results on four benchmark datasets demonstrate that LSAN consistently outperforms the stateof-the-art methods, especially on the prediction of low-frequency labels. The code and hyper-parameter settings are released to facilitate other researchers 1 .

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