DocumentCode
1683640
Title
A marginalised particle filter for bearings-only tracking
Author
Morelande, Mark R.
Author_Institution
Melbourne Syst. Lab., Univ. of Melbourne, Parkville, VIC, Australia
fYear
2013
Firstpage
6298
Lastpage
6302
Abstract
A marginalised particle filter (PF) for bearings-only tracking in modified polar coordinates (MPC) is developed. Using an Euler approximation to the dynamical equation it is shown that the range can be marginalised out so that only the three remaining elements of the state vector need to be sampled in the PF. The marginalised PF in MPC is shown to significantly outperform existing PFs for BOT in a numerical example.
Keywords
approximation theory; particle filtering (numerical methods); Euler approximation; MPC; PF; bearings-only tracking; dynamical equation; marginalised particle filter; modified polar coordinates; Approximation methods; Atmospheric measurements; Equations; Noise; Particle measurements; Radar tracking; Vectors; Particle filters; bearings-only tracking; nonlinear filters;
fLanguage
English
Publisher
ieee
Conference_Titel
Acoustics, Speech and Signal Processing (ICASSP), 2013 IEEE International Conference on
Conference_Location
Vancouver, BC
ISSN
1520-6149
Type
conf
DOI
10.1109/ICASSP.2013.6638877
Filename
6638877
Link To Document