摘要 :
The Kalman filter is the optimal estimator for tracking a nearly constant velocity (NCV) target with white noise acceleration errors. However, when the target maneuvers the white noise input assumption is violated and the filter e...
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The Kalman filter is the optimal estimator for tracking a nearly constant velocity (NCV) target with white noise acceleration errors. However, when the target maneuvers the white noise input assumption is violated and the filter estimate will become biased or worse, lead to the loss of the target track. Selection of a larger process noise will reduce the bias in the state estimates during a maneuver, but when the target is not maneuvering the filter performance is far from optimal. In decision-directed techniques for tracking maneuvering targets, the estimation process is impacted by hard decisions regarding onset and termination of target maneuvers. In this work, the autocorrelation of consecutive residuals for a maneuvering target is derived and a new test for maneuver detection is proposed. When the process noise covariance of an NCV Kalman filter is artificially high for tracking maneuvering targets, achieving a specified false alarm rate for maneuver detection is a challenge. A remedy to this challenge is also presented.
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Ship borne targets normally maneuver on circular paths which have lead to tracking filters on circular turns. In this paper, an innovation technique is presented to transform the tracking-maneuvering target problems from Polar coo...
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Ship borne targets normally maneuver on circular paths which have lead to tracking filters on circular turns. In this paper, an innovation technique is presented to transform the tracking-maneuvering target problems from Polar coordinate to Cartesian coordinate, therefore a standard linear Kalman filter can be easily applied to them. Mathematical relation between measurement noise covariance in polar coordinate and the measurement noise covariance in Cartesian coordinate for Kalman implementation is obtained in this approach via a theorem.
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A target maneuvering detection method with iterative endpoint fitting assisted is derived and presented. With the similarity between image curve fitting and maneuvering target tracking has been thought of in the method, when the t...
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A target maneuvering detection method with iterative endpoint fitting assisted is derived and presented. With the similarity between image curve fitting and maneuvering target tracking has been thought of in the method, when the traditional target maneuvering detection method was used, the target maneuver information could be abstracted with the principle of iterative endpoint fitting assisted, and the maneuver start point would be detected more accurately by the information feed backed to the detection process. The effectiveness of the method has been verified by numerical simulation.
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摘要 :
A target maneuvering detection method with iterative endpoint fitting assisted is derived and presented. With the similarity between image curve fitting and maneuvering target tracking has been thought of in the method, when the t...
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A target maneuvering detection method with iterative endpoint fitting assisted is derived and presented. With the similarity between image curve fitting and maneuvering target tracking has been thought of in the method, when the traditional target maneuvering detection method was used, the target maneuver information could be abstracted with the principle of iterative endpoint fitting assisted, and the maneuver start point would be detected more accurately by the information feed backed to the detection process. The effectiveness of the method has been verified by numerical simulation.
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On 14 January 2008 MESSENGER (MErcury Surface, Space ENvironment, GEochemistry, and Ranging) completed the first Mercury flyby since Mariner 10 did so in March 1975. This paper will describe how post-launch modifications to MESSEN...
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On 14 January 2008 MESSENGER (MErcury Surface, Space ENvironment, GEochemistry, and Ranging) completed the first Mercury flyby since Mariner 10 did so in March 1975. This paper will describe how post-launch modifications to MESSENGER's maneuver design process contributed to highly accurate delivery near the encounter B-plane aim point for the second Venus and first Mercury flybys. Maneuver performance for completed trajectory-correction maneuvers and requirements for upcoming maneuvers and planetary flybys will further demonstrate maneuver design and trajectory optimization improvements made since launch. Also included are the effects of all six planetary gravity assists on the spacecraft trajectory.
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Smoothing algorithms for maneuvering target tracking with nonlinear target dynamic and measurement equations are described and investigated. Target motion is represented using a multiple model approach. Techniques based on the int...
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Smoothing algorithms for maneuvering target tracking with nonlinear target dynamic and measurement equations are described and investigated. Target motion is represented using a multiple model approach. Techniques based on the interacting multiple model filter (IMMF), hypothesis pruning and maximum a posteriori (MAP) estimation of the maneuvering mode are described. All three techniques are based on the use of the unscented transformation with an augmented state model. A procedure for selecting the sigma points which exploits the partial linearity of the augmented state model is used. The performances of the algorithms are analysed using a scenario involving a target which undergoes coordinated turn maneuvers. In this scenario, for a sufficiently large number of smoothing lags, the MAP approach and the pruning algorithm have almost equal performance and significantly superior performance to the augmented state IMMF. The MAP approach has the benefit of a reduced computational expense.
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This paper addresses the problem of modeling maneuvering target motion in tracking applications. Moving targets typically follow deterministic straight-line or curved trajectories, with minor deviations due to random disturbances....
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This paper addresses the problem of modeling maneuvering target motion in tracking applications. Moving targets typically follow deterministic straight-line or curved trajectories, with minor deviations due to random disturbances. As a result, modeling target motion typically involves the derivation of state transition functions based on the laws of kinematics, with the addition of uncertainty terms in the form of random noise to compensate for model mismatch. Although it is possible to construct quite accurate models, there is a trade-off between model simplicity (and, thus, ease of implementation) and model accuracy. In this paper, we present a model for target motion that is based on a Brownian description of the target’s speed and heading, which allows the derivation of closed form expressions for the exact first two moments of the propagated probability density function of the target’s state vector. We outline the design of tracking algorithms based on this model, and demonstrate its effectiveness in dealing with maneuvering targets based on simulations.
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This paper compares six different algorithms for target maneuver detection in a number of typical maneuvering target tracking scenarios. Measurement residual based chi-square test, input estimate based chi-square test, input estim...
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This paper compares six different algorithms for target maneuver detection in a number of typical maneuvering target tracking scenarios. Measurement residual based chi-square test, input estimate based chi-square test, input estimate based significance test, generalized likelihood ratio, cumulative sum. and marginalized likelihood ratio detectors are examined. Maneuver onset detection times and ROC curves are presented and performance measures are discussed through simulations. Further, the effect of different window sizes on detection performance is evaluated.
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摘要 :
This paper compares six different algorithms for target maneuver detection in a number of typical maneuvering target tracking scenarios. Measurement residual based chi-square test, input estimate based chi-square test, input estim...
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This paper compares six different algorithms for target maneuver detection in a number of typical maneuvering target tracking scenarios. Measurement residual based chi-square test, input estimate based chi-square test, input estimate based significance test, generalized likelihood ratio, cumulative sum. and marginalized likelihood ratio detectors are examined. Maneuver onset detection times and ROC curves are presented and performance measures are discussed through simulations. Further, the effect of different window sizes on detection performance is evaluated.
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For ship maneuvering target tracking, this paper proposes a long and short wave gate tracking algorithm based on the mean filter. In this paper, the long and short wave gate tracking algorithm based on the mean filter is introduce...
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For ship maneuvering target tracking, this paper proposes a long and short wave gate tracking algorithm based on the mean filter. In this paper, the long and short wave gate tracking algorithm based on the mean filter is introduced firstly. The target tracking gate is created by using the ship prediction state, target historical trajectory information, and target prediction state. In the tracking gate, the target and echo are matched, and the target is updated and tracked. The experimental results show that the target tracking algorithm based on long and short wave gates proposed in this paper can eifectively track the maneuvering target.
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