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Recursive Bayesian Estimation: Bearings-Only Applications
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.
2005 (English)In: IEE Proceedings - Radar Sonar and Navigation, ISSN 1350-2395, E-ISSN 1359-7086, Vol. 152, no 5, 305-313 p.Article in journal (Refereed) Published
Abstract [en]

Recursive Bayesian estimation methods are applied to several angle-only applications. Air-to-air passive ranging, in addition to an air-to-sea application with terrain induced constraints, is discussed. The incorporation of terrain information improves estimation performance. The bearings-only problem is also discussed using experimental data from a torpedo, i.e. sea-to-sea with a passive sonar sensor. The Bayesian estimation problem is solved using the particle filter and the marginalised particle filter. For comparison, a filter bank method using range parameterised extended Kalman filters is used.

Place, publisher, year, edition, pages
2005. Vol. 152, no 5, 305-313 p.
Keyword [en]
Bayes methods, Kalman filters, Passive filters, Recursive estimation, Sonar signal processing, Target tracking
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-29601DOI: 10.1049/ip-rsn:20045073Local ID: 14979OAI: oai:DiVA.org:liu-29601DiVA: diva2:250418
Available from: 2009-10-09 Created: 2009-10-09 Last updated: 2017-12-13
In thesis
1. Particle filtering for positioning and tracking applications
Open this publication in new window or tab >>Particle filtering for positioning and tracking applications
2005 (English)Doctoral thesis, comprehensive summary (Other academic)
Abstract [en]

A Bayesian approach to positioning and tracking applications naturally leads to a recursive estimation formulation. The recently invented particle filter provides a numerical solution to the non-tractable recursive Bayesian estimation problem. As an alternative, traditional methods such as the extended Kalman filter. which is based on a linearized model and an assumption on Gaussian noise, yield approximate solutions.

In many practical applications, signal quantization and algorithmic complexity are fundamental issues. For measurement quantization, estimation performance is analyzed in detail. The algorithmic complexity is addressed for the marginalized particle filter, where the Kalman filter solves a linear subsystem subject to Gaussian noise efficiently.

The particle filter is adopted to several positioning and tracking applications and compared to traditional approaches. Particularly, the use of external database information to enhance estimation performance is discussed. In parallel, fundamental limits are derived analytically or numerically using the Cramér-Rao lower bound, and the result from estimation studies is compared to the corresponding lower bound. A framework for map-aided positioning at sea is developed, featuring an underwater positioning system using depth information and readings from a sonar sensor and a novel surface navigation system using radar measurements and sea chart information. Bayesian estimation techniques are also used to improve position accuracy for an industrial robot. The bearings-only tracking problem is addressed using Bayesian techniques and map information is used to improve the estimation performance. For multiple-target tracking problems data association is an important issue. A method to incorporate classical association methods when the estimation is based on the particle filter is presented. A real-time implementation of the particle filter as well as hypothesis testing is introduced for a collision avoidance application.

Place, publisher, year, edition, pages
Linköping, Sweden: Linköping University Electronic Press, 2005. 55 p.
Series
Linköping Studies in Science and Technology. Dissertations, ISSN 0345-7524 ; 924
National Category
Engineering and Technology
Identifiers
urn:nbn:se:liu:diva-29608 (URN)14987 (Local ID)91-85297-34-8 (ISBN)14987 (Archive number)14987 (OAI)
Public defence
2005-03-18, Sal Visionen, Campus Valla, Linköping, 10:15 (Swedish)
Available from: 2009-10-09 Created: 2009-10-09 Last updated: 2012-11-29Bibliographically approved

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Karlsson, RickardGustafsson, Fredrik

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CiteExportLink to record
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