Multiple-target tracking using the SME filter with polar coordinate measurements

Chellury R. Sastry; Edward W. Kamen

doi:10.1117/12.45661

1 August 1991 Multiple-target tracking using the SME filter with polar coordinate measurements

Chellury R. Sastry, Edward W. Kamen

Proceedings Volume 1481, Signal and Data Processing of Small Targets 1991; (1991) https://doi.org/10.1117/12.45661
Event: Orlando '91, 1991, Orlando, FL, United States

Abstract

The symmetric measurement equation (SME) filter approach to track maintenance in multiple target tracking developed by Kamen is applied to the case when the target dynamics are modeled in Cartesian coordinates and the measurements are given in polar coordinates. The key idea of the SME filter approach developed in this paper is to define new measurements that are sums of products of range measurements, elevation measurements, and azimuth measurements. In this way the problem of target/measurement association is embedded in the process of target state estimation. For N targets moving in three-dimensional space, the first order version of the SME filter is an extended Kalman filter of dimension 6N. The performance of the SME filter is investigated via a computer simulation of six targets with crossing trajectories.

Citation Download Citation

Chellury R. Sastry and Edward W. Kamen "Multiple-target tracking using the SME filter with polar coordinate measurements", Proc. SPIE 1481, Signal and Data Processing of Small Targets 1991, (1 August 1991); https://doi.org/10.1117/12.45661

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