Reduced spatio-temporal complexity MMPP and image-based tracking filters for maneuvering targets

We present reduced-complexity nonlinear filtering algorithms for image-based tracking of maneuvering targets. In image-based target tracking, the mode of the target is observed as a Markov modulated Poisson process (MMPP) and the aim is to compute optimal estimates of the targetʹs state. We present a reduced complexity algorithm in two steps. First, a gauge transformation is used to reexpress the filtering equations in a form that is computationally more efficient for time discretization than naive discretization of the filtering equations. Second, a spatial aggregation algorithm with guaranteed performance bounds is presented for the time-discretized filters. A numerical example illustrating the performance of the resulting reduced-complexity filtering algorithms for a switching turn-rate model is presented.