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On Information Measures based on Particle Mixture for Optimal Bearings-only Tracking
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
2009 (English)In: Proceedings of the 2009 IEEE Aerospace Conference, IEEE conference proceedings, 2009, 1-14 p.Conference paper, Published paper (Refereed)
Abstract [en]

In this work we consider a target tracking scenario where a moving observer with a bearings-only sensor is tracking a target. The tracking performance is highly dependent on the trajectory of the sensor platform, and the problem is to determine how it should maneuver for optimal tracking performance. The problem is considered as a stochastic optimal control problem and two sub-optimal control strategies are presented based on the Information filter and the determinant of the information matrix as the optimization objective. Using the determinant of the information matrix as an objective function in the planning problem is equivalent to using differential entropy of the posterior target density when it is Gaussian. For the non-Gaussian case, an approximation of the differential entropy of a density represented by a particle mixture is proposed. Furthermore, a gradient approximation of the differential entropy is derived and used in a stochastic gradient search algorithm applied to the planning problem.

Place, publisher, year, edition, pages
IEEE conference proceedings, 2009. 1-14 p.
Keyword [en]
Bearings-only tracking, Particle filter, Differential entropy
National Category
Engineering and Technology Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-25609DOI: 10.1109/AERO.2009.4839487ISBN: 978-1-4244-2622-5 (print)ISBN: 978-1-4244-2621-8 (print)OAI: oai:DiVA.org:liu-25609DiVA: diva2:246124
Conference
2009 IEEE Aerospace Conferance, 7-14 March, Big Sky, MT, USA, March, 2009
Available from: 2009-10-08 Created: 2009-10-08 Last updated: 2013-04-16Bibliographically approved

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Skoglar, PerOrguner, UmutGustafsson, Fredrik

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CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • oxford
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf