Multiple target tracking with symmetric measurement equations revisited: unscented Kalman filters, particle filters, and Taylor series expansions

William F. Leven; Aaron D. Lanterman

doi:10.1117/12.607412

19 May 2005 Multiple target tracking with symmetric measurement equations revisited: unscented Kalman filters, particle filters, and Taylor series expansions

William F. Leven, Aaron D. Lanterman

Author Affiliations +

Proceedings Volume 5810, Acquisition, Tracking, and Pointing XIX; (2005) https://doi.org/10.1117/12.607412
Event: Defense and Security, 2005, Orlando, Florida, United States

Abstract

The symmetric measurement equation (SME) approach to multiple target tracking is revisited using unscented Kalman and particle filters. The unscented Kalman filter (UKF) promises more accurate approximation of nonlinearities and simpler implementation of the SME approach than the EKF. The particle filter implementation offers the ability to explore the limits of the SME approach. In the first portion of this paper, experiences with SME for tracking one-dimensional motion are reviewed. The second portion of this paper discusses the challenges that arise when using the SME approach to track two-dimensional motion and introduces a new set of two-dimensional SME equations. Finally, Taylor series expansions are used to explore differences between Kalman filter-SME pairings. Using the Taylor series representation, we show how the choice of SME formulation affects the representation, and consequently approximation, of uncertainty in the Kalman filters.

Citation Download Citation

William F. Leven and Aaron D. Lanterman "Multiple target tracking with symmetric measurement equations revisited: unscented Kalman filters, particle filters, and Taylor series expansions", Proc. SPIE 5810, Acquisition, Tracking, and Pointing XIX, (19 May 2005); https://doi.org/10.1117/12.607412

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available