Integrated probabilistic data association (IPDA)

Author

Musicki, D. ; Evans, R. ; Stankovic, S.

Author_Institution

Dept. of Electr. & Electron. Eng., Melbourne Univ., Parkville, Vic., Australia

fYear

1992

fDate

1992

Firstpage

3796

Abstract

A version of the probabilistic data association (PDA) algorithm that is called integrated probabilistic data association (IPDA) is presented. Rather than deriving algorithms based on an assumption of track existence, IPDA starts from expressions which treat track existence as an event with an associated probability. This approach leads to a set of recursive formulae for both data association and probability of track existence or track quality. This is useful in the track initiation phase (to confirm a tentative track) and in track termination (to terminate a false track). The IPDA algorithm is compared with both the probabilistic data association algorithm (PDA) and the interactive multiple model (IMM) PDA algorithm

Keywords

inference mechanisms; tracking; IPDA; associated probability; data association; integrated probabilistic data association; probabilistic data association; recursive formulae; track existence; Covariance matrix; Data engineering; Density measurement; Equations; Error correction; Position measurement; State estimation; Target tracking; Time measurement; Trajectory;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 1992., Proceedings of the 31st IEEE Conference on

Conference_Location

Tucson, AZ

Print_ISBN

0-7803-0872-7

Type

conf

DOI

10.1109/CDC.1992.370951

Filename

370951