Multiple-Model Estimators for Tracking Sharply Maneuvering Ground Targets

作者：Visina Radu^*; Bar Shalom Yaakov; Willett Peter

来源：IEEE Transactions on Aerospace and Electronic Systems, 2018, 54(3): 1404-1414.

DOI：10.1109/TAES.2018.2793019

This paper presents algorithms that can be used to track the state of kinematic point targets, moving in two dimensions, that are capable of making very sharp heading maneuvers over short periods of time. Ground vehicles with continuous wheel tracks moving in an open field may perform such maneuvers. These targets are capable of 60 degrees/s turn rates, whereas measurements are received at only 1 Hz. We describe how an interacting multiple model estimator (IMM) should be designed to accommodate such maneuvers, and we introduce the nonzero mean, white noise turn-rate model to quickly detect sharp turns by modeling a multimode process noise probability density function. Results show that including such modes in an IMM achieves significant improvement in accuracy and consistency, as compared to conventional coordinated-turn IMM filters.

• 出版日期2018-6