Application of Road Information in Ground Moving Target Tracking

A new algorithm is developed to achieve accurate state estimation in ground moving target tracking by means of using road information. It is an adaptive variable structure interacting multiple model estimator with dynamic models modification (DMM VS-IMM for short). Firstly, road information is employed to modify the target dynamic models used by filter, including modification of state transition matrix and process noise. Secondly, road information is applied to update the model set of a VS-IMM estimator. Predicted state estimation and road information are used to locate the target in the road network on which the model set is updated and finally IMM filtering is implemented. As compared with traditional methods, the accuracy of state estimation is improved for target moving not only on a single road, but also through an intersection. Monte Carlo simulation demonstrates the efficiency and robustness of the proposed algorithm with moderate computational loads.

作 者： Zhen Xinyan Zhao Wei   作者單位： School of Electronics and Information Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100083, China  刊 名： 中國航空學報(英文版)  ISTIC 英文刊名： CHINESE JOURNAL OF AERONAUTICS  年，卷(期)： 2007 20(6)  分類號： V2  關鍵詞： ground moving target tracking   state estimation   road information   models modification   variable structure interacting multiple model (VS-IMM)  

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