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Reduced spatio-temporal complexity MMPP and image-based tracking filters for maneuvering targets

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2 Author(s)
V. Krishnamurthy ; Dept. of Electr. & Comput. Eng., British Columbia Univ., Canada ; S. Dey

We present reduced-complexity nonlinear filtering algorithms for image-based tracking of maneuvering targets. In image-based target tracking, the mode of the target is observed as a Markov modulated Poisson process (MMPP) and the aim is to compute optimal estimates of the target's state. We present a reduced complexity algorithm in two steps. First, a gauge transformation is used to reexpress the filtering equations in a form that is computationally more efficient for time discretization than naive discretization of the filtering equations. Second, a spatial aggregation algorithm with guaranteed performance bounds is presented for the time-discretized filters. A numerical example illustrating the performance of the resulting reduced-complexity filtering algorithms for a switching turn-rate model is presented.

Published in:

IEEE Transactions on Aerospace and Electronic Systems  (Volume:39 ,  Issue: 4 )