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Multisensor tracking of a manoeuvring target in clutter using IMMPDA fixed-lag smoothing

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2 Author(s)
Bing Chen ; Dept. of Electr. Eng., Auburn Univ., AL, USA ; Tugnait, J.K.

We present a suboptimal fixed-lag smoothing algorithm for tracking a highly manoeuvring target in a cluttered environment using multiple sensors. The fixed-lag smoothing algorithm is developed by applying the basic interacting multiple model (IMM) approach and the probabilistic data association (PDA) technique to a state-augmented system. The algorithm is illustrated via a simulation example. Compared with an existing IMMPDA filtering algorithm, the proposed smoothing algorithm achieves significant improvement in the accuracy of track estimation by introducing a small time lag between the instants of estimation and latest measurements whereas the computational load increases linearly with lag

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American Control Conference, 1999. Proceedings of the 1999  (Volume:6 )

Date of Conference: