&lt;title&gt;IMM algorithm for tracking targets that maneuver through coordinated turns&lt;/title&gt;

Watson, Gregory A.; Blair, W.D.

doi:10.1117/12.139376

Cited by 61 publications

(52 citation statements)

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“…A natural idea is to replace the above ! by its estimate, based on, e.g., the latest velocity estimates, as used in [70,67,4]. However, this may inject unacceptably large errors into the system.…”

Section: A Ct Models With Known Turn Ratementioning

confidence: 98%

“…Virtually all models in the literature (e.g., [95,10,96,97,70,6,98,1,99]) presume explicitly or implicitly that (105) holds. As shown above, a necessary and sufficient condition for its validity is the orthogonality between the linear and angular velocity vectors.…”

Section: A Basic Kinematic Relationsmentioning

confidence: 98%

“…k k . If (66) is used, however, these models have an identical state prediction because (70) where z k stands for all measurements through time t k . This follows from E[!…”

Section: B Ct Models With Unknown Turn Ratementioning

confidence: 99%

“…A possible rescue is to impose a v = 0 as a kinematic constraint, which, however, turns the dynamic model into a highly nonlinear one if it incorporates the constraint directly. Mainly to avoid this nonlinearity, an alternative approach was adopted in [101,70,102,103] where the constraint was incorporated into a pseudomeasurement model, described in detail in the subsequent part of this survey on measurement models (its conference version is [15]). …”

Section: ) Planar Constant-turn Modelsmentioning

confidence: 99%

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Survey of maneuvering targettracking . part I: dynamic models

Jilkov

2003

IEEE Trans. Aerosp. Electron. Syst.

1,755

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This is the first part of a comprehensive and up-to-date survey of the techniques for tracking maneuvering targets without addressing the so-called measurement-origin uncertainty. It surveys various mathematical models of target motion/dynamics proposed for maneuvering target tracking, including 2D and 3D maneuver models as well as coordinate-uncoupled generic models for target motion. This survey emphasizes the underlying ideas and assumptions of the models. Interrelationships among models and insight to the pros and cons of models are provided. Some material presented here has not appeared elsewhere. CONTENTS

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Section: A Ct Models With Known Turn Ratementioning

confidence: 98%

Section: A Basic Kinematic Relationsmentioning

confidence: 98%

“…k k . If (66) is used, however, these models have an identical state prediction because (70) where z k stands for all measurements through time t k . This follows from E[!…”

Section: B Ct Models With Unknown Turn Ratementioning

confidence: 99%

Section: ) Planar Constant-turn Modelsmentioning

confidence: 99%

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Survey of maneuvering targettracking . part I: dynamic models

Jilkov

2003

IEEE Trans. Aerosp. Electron. Syst.

1,755

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“…Using a single type of filter, it is not possible to track an arbitrary trajectory. IMM filtering [2,11] have been used successfully to track maneuvering and non-maneuvering target simultaneously.…”

Section: Introductionmentioning

confidence: 99%

PMHT based multiple point targets tracking using multiple models in infrared image sequence

Zaveri

Desai

Merchant

Proceedings of the IEEE Conference on Advanced Video and Signal Based Surveillance, 2003.

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Monocular passive ranging of maneuvering intruder for UAS detect‐and‐avoid

Daugherty

Bai

2019

Asian Journal of Control

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We investigate a planar orbiting intruder passive ranging problem, where an ownship aircraft is moving with a constant velocity and a co-planar intruder aircraft is conducting an orbiting maneuver. The objective is to estimate the state information of the intruder, such as range, speed and heading, using only bearing measurements of the intruder from the ownship. This is relevant to detect-and-avoid applications where an unmanned aerial system (UAS) is equipped with only a monocular camera sensor and needs to determine the range to the intruder. We utilize a filter bank algorithm parameterized with respect to the range, heading, and angular velocity of the intruder's initial states. In previous work, we performed investigations on the effects of parameterizing the filter bank algorithm and the system model using Monte Carlo Simulations. We extend our previous study to include a study on the effects of the ownship speed on the filter performance as well as a Cramer-Rao lower bound comparison. Since the intruder's motion may be composed of straight legs and orbits, we integrate our filter bank algorithm into an Interacting Multiple Model (IMM) framework for two maneuver models: constant velocity and coordinated turn. We conduct Monte Carlo simulations of the IMM algorithm to study the effects of varying the IMM mixing stage frequency and the off diagonal values for the transition probability matrix. Our simulation results demonstrate the effectiveness of the proposed algorithms.

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<title>IMM algorithm for tracking targets that maneuver through coordinated turns</title>

Cited by 61 publications

References 0 publications

Survey of maneuvering targettracking . part I: dynamic models

Survey of maneuvering targettracking . part I: dynamic models

PMHT based multiple point targets tracking using multiple models in infrared image sequence

Monocular passive ranging of maneuvering intruder for UAS detect‐and‐avoid

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