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Overview
The fundamental building block of a target tracking radar system is the filter for recursive target state estimation, with the Kalman filter being the best-known example. The authors of this work (all of Australia's Defense Science and Technology Organization) believe that particle filters relying on sequential Monte Carlo estimation and non-Gaussian dynamic estimation are growing to be more useful than Kalman filters. Writing for engineers, they review the current status of nonlinear/non-Gaussian filtering and describe common techniques. They then turn their attention to an array of target tracking applications, most of which rely on particle filters. Annotation ©2004 Book News, Inc., Portland, OR
Product Details
ISBN-13: | 9781580536318 |
---|---|
Publisher: | Artech House, Incorporated |
Publication date: | 01/31/2004 |
Series: | Artech House Radar Library |
Pages: | 318 |
Sales rank: | 686,732 |
Product dimensions: | 6.14(w) x 9.21(h) x 0.75(d) |
Table of Contents
Preface | xi | |
Acknowledgments | xiii | |
I | Theoretical Concepts | 1 |
Chapter 1 | Introduction | 3 |
1.1 | Nonlinear Filtering | 3 |
1.2 | The Problem and Its Conceptual Solution | 4 |
1.3 | Optimal Algorithms | 7 |
1.3.1 | The Kalman Filter | 7 |
1.3.2 | Grid-Based Methods | 9 |
1.3.3 | Benes and Daum Filters | 10 |
1.4 | Multiple Switching Dynamic Models | 11 |
1.5 | Basics of Target Tracking | 14 |
1.6 | Summary | 16 |
References | 16 | |
Chapter 2 | Suboptimal Nonlinear Filters | 19 |
2.1 | Analytic Approximations | 19 |
2.2 | Numerical Methods | 22 |
2.3 | Gaussian Sum Filters | 24 |
2.3.1 | Static MM Estimator | 25 |
2.3.2 | Dynamic MM Filter | 26 |
2.4 | Unscented Kalman Filter | 28 |
2.4.1 | Filtering Equations | 29 |
2.4.2 | The Unscented Transform | 30 |
2.5 | Summary | 32 |
References | 32 | |
Chapter 3 | A Tutorial on Particle Filters | 35 |
3.1 | Monte Carlo Integration | 35 |
3.2 | Sequential Importance Sampling | 37 |
3.3 | Resampling | 41 |
3.4 | Selection of Importance Density | 45 |
3.4.1 | The Optimal Choice | 45 |
3.4.2 | Suboptimal Choices | 47 |
3.5 | Versions of Particle Filters | 48 |
3.5.1 | SIR Filter | 48 |
3.5.2 | Auxiliary SIR Filter | 49 |
3.5.3 | Particle Filters with an Improved Sample Diversity | 52 |
3.5.4 | Local Linearization Particle Filters | 55 |
3.5.5 | Multiple-Model Particle Filter | 57 |
3.6 | Computational Aspects | 58 |
3.7 | Summary | 61 |
3.8 | Appendix: Combination of Quadratic Terms | 61 |
References | 62 | |
Chapter 4 | Cramer-Rao Bounds for Nonlinear Filtering | 67 |
4.1 | Background | 68 |
4.2 | Recursive Computation of the Filtering Information Matrix | 71 |
4.3 | Special Cases | 73 |
4.3.1 | Additive Gaussian Noise | 73 |
4.3.2 | Linear/Gaussian Case | 75 |
4.3.3 | Zero Process Noise | 76 |
4.4 | Multiple-Switching Dynamic Models | 76 |
4.4.1 | Enumeration Method | 77 |
4.4.2 | Deterministic Trajectory | 79 |
4.5 | Summary and Further Reading | 80 |
References | 80 | |
II | Tracking Applications | 83 |
Chapter 5 | Tracking a Ballistic Object on Reentry | 85 |
5.1 | Introduction | 85 |
5.2 | Target Dynamics and Measurements | 86 |
5.3 | Cramer-Rao Bound | 88 |
5.4 | Tracking Filters | 93 |
5.5 | Numerical Results | 94 |
5.6 | Concluding Remarks | 98 |
References | 101 | |
Chapter 6 | Bearings-Only Tracking | 103 |
6.1 | Introduction | 103 |
6.2 | Problem Formulation | 104 |
6.2.1 | Nonmaneuvering Case | 104 |
6.2.2 | Maneuvering Case | 106 |
6.2.3 | Multiple Sensor Case | 108 |
6.2.4 | Tracking with Constraints | 108 |
6.3 | Cramer-Rao Lower Bounds | 109 |
6.3.1 | Nonmaneuvering Case | 109 |
6.3.2 | Maneuvering Case | 110 |
6.3.3 | Multiple Sensor Case | 112 |
6.4 | Tracking Algorithms | 113 |
6.4.1 | Nonmaneuvering Case | 113 |
6.4.2 | Maneuvering Target Case | 121 |
6.4.3 | Multiple Sensor Case | 127 |
6.4.4 | Tracking with Hard Constraints | 127 |
6.5 | Simulation Results | 129 |
6.5.1 | Nonmaneuvering Case | 130 |
6.5.2 | Maneuvering Case | 138 |
6.5.3 | Multiple Sensor Case | 145 |
6.5.4 | Tracking with Hard Constraints | 147 |
6.6 | Summary | 148 |
6.7 | Appendix: Linearized Transition Matrix for MP-EKF | 148 |
References | 150 | |
Chapter 7 | Range-Only Tracking | 153 |
7.1 | Introduction | 153 |
7.2 | Problem Description | 154 |
7.3 | Cramer-Rao Bounds | 157 |
7.3.1 | Derivations | 157 |
7.3.2 | Analysis | 158 |
7.4 | Tracking Algorithms | 164 |
7.5 | Algorithm Performance and Comparison | 168 |
7.6 | Application to Ingara ISAR Data | 173 |
7.7 | Summary | 176 |
References | 178 | |
Chapter 8 | Bistatic Radar Tracking | 179 |
8.1 | Introduction | 179 |
8.2 | Problem Formulation | 180 |
8.3 | Cramer-Rao Bounds | 183 |
8.3.1 | Derivations | 183 |
8.3.2 | Analysis | 185 |
8.4 | Tracking Algorithms | 189 |
8.4.1 | Stage 1 of Tracker | 191 |
8.4.2 | Stage 2 of Tracker | 196 |
8.5 | Algorithm Performance | 196 |
8.6 | Summary | 199 |
References | 201 | |
Chapter 9 | Tracking Targets Through the Blind Doppler | 203 |
9.1 | Introduction | 203 |
9.2 | Problem Formulation | 204 |
9.3 | EKF-Based Track Maintenance | 206 |
9.4 | Particle Filter-Based Solution | 208 |
9.5 | Simulation Results | 210 |
9.6 | Summary | 213 |
References | 214 | |
Chapter 10 | Terrain-Aided Tracking | 215 |
10.1 | Introduction | 215 |
10.2 | Problem Description and Formulation | 216 |
10.2.1 | Problem Description | 216 |
10.2.2 | Dynamics and Measurement Models for VS-IMM | 219 |
10.2.3 | Dynamic Models for VS-MMPF | 221 |
10.3 | Variable Structure IMM | 227 |
10.3.1 | Model Set Update | 229 |
10.4 | Variable Structure Multiple-Model Particle Filter | 229 |
10.4.1 | Prediction Step | 230 |
10.4.2 | Update Step | 230 |
10.5 | Simulation Results | 231 |
10.6 | Conclusions | 236 |
References | 237 | |
Chapter 11 | Detection and Tracking of Stealthy Targets | 239 |
11.1 | Introduction | 239 |
11.2 | Target and Sensor Models | 240 |
11.2.1 | Target Model | 240 |
11.2.2 | Sensor Model | 241 |
11.3 | Conceptual Solution in the Bayesian Framework | 242 |
11.4 | A Particle Filter for Track-Before-Detect | 244 |
11.5 | A Numerical Example | 247 |
11.6 | Performance Analysis | 251 |
11.6.1 | Tracking Error Performance | 251 |
11.6.2 | Detection Performance | 254 |
11.7 | Summary and Extensions | 257 |
References | 258 | |
Chapter 12 | Group and Extended Object Tracking | 261 |
12.1 | Introduction | 261 |
12.2 | Tracking Model | 263 |
12.3 | Formal Bayesian Solution | 265 |
12.4 | Affine Model | 268 |
12.5 | Particle Filters | 269 |
12.5.1 | SIR Particle Filter | 270 |
12.5.2 | Rao-Blackwellized Particle Filter | 271 |
12.6 | Simulation Example | 273 |
12.7 | Concluding Remarks | 277 |
References | 284 | |
Epilogue | 287 | |
Appendix | Coordinate Transformations for Tracking | 289 |
A.1 | Geodetic to ECEF and Vice Versa | 290 |
A.2 | ECEF to Tangential Plane and Vice Versa | 290 |
References | 292 | |
List of Acronyms | 293 | |
About the Authors | 295 | |
Index | 297 |
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