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Multirate interacting multiple model particle filter for terrain-based ground target tracking

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4 Author(s)
Hong, L. ; Dept. of Electr. Eng., Wright State Univ., Dayton, OH ; Cui, N. ; Bakich, M. ; Layne, J.R.

Ground target tracking is a nonlinear filtering problem when it incorporates terrain and road constraints into system modelling and uses polar coordinate sensing. Furthermore, when tracking ground manoeuvring targets with an interacting multiple model approach, a non-Gaussian problem exists because of an inherent mixing operation. A multirate interacting multiple model particle filter (MRIMM-PF) is presented to effectively solve the problem of nonlinear and non-Gaussian tracking, with an emphasis on computational savings. The sample subset of each mode is updated at a different rate and mode switches are performed according to a Markov chain at a low rate. For a fixed number of samples, simulation results show that the MRIMM-PF significantly reduces computational costs, with comparable tracking performance to multiple model particle filter

Published in:

Control Theory and Applications, IEE Proceedings  (Volume:153 ,  Issue: 6 )