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Various Topics on Angle-Only Tracking using Particle Filters
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
2002 (English)In: Proceedings of Reglermöte 2002, 2002, 220- p.Conference paper (Other academic)
Abstract [en]

Angle-only tracking estimates range and range rate from measured angle information by maneuvering the observation platform to gain observability. Traditionally, linear or linearized models are used, where the uncertainty in the sensor and motion models is typically modeled by Gaussian densities. Hence, classical sub-optimal Bayesian methods based on linearized Kalman filters can be used. The sequential Monte Carlo method, or particle filter, provides an approximative solution to the non-linear and non-Gaussian estimation problem. The particle filter approximates the optimal solution, hence it can outperform the Kalman filter in many cases, given sufficient computational resources. In an air-to-sea application it is shown how to incorporate terrain induced constraints using a terrain database. The algorithm is also successfully evaluated on experimental sonar data acquired from a torpedo system.

Place, publisher, year, edition, pages
2002. 220- p.
Keyword [en]
Target tracking, Particle filter, Bayesian estimation, Non-linear filtering, Hard constraints, Angle-only tracking
National Category
Engineering and Technology Control Engineering
URN: urn:nbn:se:liu:diva-29616Local ID: 14995OAI: diva2:250433
Reglermöte 2002, Linköping, Sweden, May, 2002
Available from: 2009-10-09 Created: 2009-10-09 Last updated: 2013-04-07

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Karlsson, Rickard
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