Target Tracking with Target State Dependent Detection

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1、IEEETRANSACTIONSONSIGNALPROCESSING,VOL.59,NO.3,MARCH20111063TargetTrackingWithTargetStateDependentDetectionTaekLyulSong,Member,IEEE,DarkoMusickiˇ,Member,IEEE,andKimDaSolAbstract—Targettrackingalgorithmsusuallytreattheprob-measurementperscan.Thenumberofpossiblemeasurementse-abilityofdet

2、ectionasindependentofthetargetstate.Inmostquencesgrowsexponentiallyintimewhileeachsequencewillcases,thisassumptionisnottrue,withsubsequentdegradationresultinatargettrajectorystateestimate.Thus,varioustech-inthetargettrackingperformancefrombothexpectedandop-niquesareusedtocontroltheirnu

3、mber[1].Onewayofdealingtimallevels.OnetypicalexampleistheDopplerfrequencybasedclutterrejection,theotherisobfuscation(shadowing)ofgroundwithcomplexityistoreducetheprobabilitydensityfunctionbasedtargets,andthethirdisantijammingnotchfiltering.This(pdf)ofeachtracktoasingleGaussian;theseappr

4、oachesaredependenceoftheprobabilityoftargetdetectiononthetargettermedsingle-scantrackersandincludetrackersbasedonproba-trajectorystatemodulatesthemeasurementlikelihood,which,bilisticdataassociation(PDA)[2],[3],andprobabilisticnearestinturn,introducesmeasurementnonlinearity.Inthispaper,

5、weneighborfiltering[4],[5].Multiscantrackersretainestimatesfirstpresentageneralalgorithmfortargettrackinginclutterwhentheprobabilityofdetectionistargetstatedependent,andbasedonmultiplemeasurementhistoriesandtheirpdfsareap-thenproceedtoanalgorithmwherebothtargetstateestimateandproximatedb

6、yGaussianmixtures(GMs);examplesincludevar-theprobabilityofdetectionaremodeledbyGaussianmixtures.iousformsofmultiplehypothesistracker(MHT)[6],[7],andTheprobabilityoftargetexistenceisrecursivelyupdatedasthetracksplitfilters[8].Possiblepresenceofmultipletargetsaddstrackqualitymeasureusedfo

7、rfalsetrackdiscrimination.Aanotherlevelofcomplexity.Forreasonsofclarityandbrevity,two-sensor-basedgroundmaneuveringtargettrackingincluttersimulationvalidatesthisapproach.weconcentrateinthispaperonsingletargettracking,withtheexceptionofSectionIV-AwithabriefoverviewofapossibleIndexTerm