Title :
A comparison of the particle and shifted Rayleigh filters in their application to a multisensor bearings-only problem
Author :
Clark, Martin ; Maskell, Simon ; Vinter, Richard ; Yaqoob, Moeen
Author_Institution :
Dept. of EEE, Imperial Coll., London
Abstract :
The multisensor bearings-only problem of target motion analysis - the determination of the position and velocity of a target from noisy bearings made from several moving sensors - presents some interesting challenges to the designer of a tracking algorithm. Apart from the obvious nonlinearities in the measurements, the conditional covariance matrices of the target state are often highly singular in the initial stages. In this paper it is shown that the shifted Rayleigh filter, a ´moment matching´ method of modest computational cost, can compete with the particle filter when they are applied to a realistic version of this problem in which a target moves through a mobile multisensor network
Keywords :
covariance matrices; particle filtering (numerical methods); sensor fusion; target tracking; tracking filters; covariance matrices; mobile multisensor network; moment matching; multisensor bearings-only problem; noisy bearings; particle filter; shifted Rayleigh filters; target motion analysis; tracking algorithm; Algorithm design and analysis; Analytical models; Bayesian methods; Covariance matrix; Linearity; Matched filters; Particle filters; Particle measurements; Particle tracking; Target tracking;
Conference_Titel :
Aerospace Conference, 2005 IEEE
Conference_Location :
Big Sky, MT
Print_ISBN :
0-7803-8870-4
DOI :
10.1109/AERO.2005.1559505