Bernoulli filter with linear equality constraints

Bernoulli filters are used to estimate the states of dynamic systems recently. However, in the application of tracking ground moving targets in clutter, some valuable information tend to be ignored, such as the road constraints. The road constraints, as prior information about the state, should be incorporated into the dynamic modeling process of the filtering algorithm. In this paper, a method of incorporating state linear equality constraints (LEC) into the Bernoulli filter called the LEC Bernoulli filter (LECBF) is presented for tracking ground moving target. In this case, the Bernoulli filter is improved by exploiting road constraints, and can achieve a better filtering performance than the original unconstrained Bernoulli filter. Finally, an illustrative example is provided to show the effectiveness and efficiency of the LECBF.