Title :
Gaussian-Sum Cubature Kalman Filter with Improved Robustness for Bearings-only Tracking
Author :
Leong, Pei H. ; Arulampalam, Sanjeev ; Lamahewa, Tharaka A. ; Abhayapala, Thushara D.
Author_Institution :
Appl. Signal Process. Group, Australian Nat. Univ. (ANU), Canberra, ACT, Australia
Abstract :
This letter presents a Gaussian-sum cubature Kalman filter with improved robustness compared to the original algorithm proposed by the authors in , which demonstrated excellent accuracy and efficiency for the bearings-only tracking problem. Modifications are made in the splitting and merging procedure of the Gaussian components in the algorithm. Simulation results confirm the improved robustness of the modified algorithm against the choice of threshold level for the splitting procedure.
Keywords :
Gaussian processes; Kalman filters; target tracking; Gaussian-sum cubature Kalman filter; bearings-only tracking problem; merging procedure; robustness improvement; splitting procedure; threshold level; Accuracy; Covariance matrices; Kalman filters; Merging; Robustness; Signal processing algorithms; Vectors; Bearings-only tracking; Gaussian-sum; cubature Kalman filter;
Journal_Title :
Signal Processing Letters, IEEE
DOI :
10.1109/LSP.2014.2307075
