Title :
Data fusion performance of HFSWR Systems for ship traffic monitoring
Author :
Maresca, Salvatore ; Braca, Paolo ; Horstmann, Jochen
Author_Institution :
Centre for Maritime Res. & Experimentation, La Spezia, Italy
Abstract :
In Maritime Situational Awareness (MSA), low-power High-Frequency Surface-Wave (HFSW) radars fit the role of long-range early-warning tools by virtue of their over-the-horizon (OTH) coverage. Unfortunately these sensors, developed mainly for ocean remote sensing applications, exhibit poor range and azimuth resolution, high non-linearity and significant false alarm rate due to clutter and interference. For these reasons, the Joint Probabilistic Data Association (JPDA) logic, followed by the Unscented Kalman Filter (UKF), is proposed. Then, to exploit two simultaneously operating HFSW radars with overlapping fields of view, a track-to-track association and fusion (T2T-A/F) logic is applied. The capabilities of the JPDA-UKF tracking algorithm in combination with the T2T-A/F strategy are evaluated using a set of purpose-defined performance metrics, such as the time-on-target (ToT), the false alarm rate (FAR) and the root mean square error (RMSE). Special attention is paid to the comparison of the JPDA-UKF with the 3D (rangeazimuth-doppler) Ordered Statistics Constant False Alarm Rate (OS-CFAR) detection algorithm. A procedure based on track length modelling for the analysis of true and false tracks is presented as well. Single-sensor and multi-sensor tracking performances are investigated using real data collected during the NATO Battlespace Preparation 2009 (BP09) HF-radar experiment, which took place between May and December 2009 in the Mediterranean Sea. Ship reports from the Automatic Identification System (AIS) are used as ground truth information. Experimental results are reported and discussed.
Keywords :
Kalman filters; computerised monitoring; geophysical image processing; image fusion; marine engineering; marine radar; mean square error methods; nonlinear filters; object detection; oceanographic techniques; probability; radar clutter; radar imaging; remote sensing by radar; ships; target tracking; 3D ordered statistics constant false alarm rate detection algorithm; AIS; FAR; HFSWR systems; JPDA-UKF tracking algorithm; MSA; Mediterranean Sea; NATO Battlespace Preparation 2009 HF-radar experiment; OS-CFAR; OTH; RMSE; ToT; automatic identification system; azimuth resolution; data collection; data fusion performance; joint probabilistic data association logic; long-range early-warning tools; low-power high-frequency surface-wave radars; maritime situational awareness; multisensor tracking performances; ocean remote sensing applications; over-the-horizon coverage; purpose-defined performance metrics; root mean square error; sea clutter; ship traffic monitoring; single-sensor tracking performances; target detection; target tracking; time-on-target; track length modelling; track-to-track association logic; track-to-track fusion logic; unscented Kalman filter; Azimuth; Marine vehicles; Radar tracking; Sensors; Target tracking; Vectors; data fusion; high-frequency surface wave (HFSW) radar; real data; sea clutter; target detection; target tracking;
Conference_Titel :
Information Fusion (FUSION), 2013 16th International Conference on
Conference_Location :
Istanbul
Print_ISBN :
978-605-86311-1-3