Smoothing data association for target trajectory estimation in cluttered environments
- Title
- Smoothing data association for target trajectory estimation in cluttered environments
- Author
- 송택렬
- Keywords
- Smoothing data association; FLIPDA-S; False track discrimination; Target existence; PROBABILISTIC DATA ASSOCIATION; TRACK SPLITTING FILTER; MULTITARGET TRACKING
- Issue Date
- 2016-02
- Publisher
- SPRINGER INTERNATIONAL PUBLISHING AG
- Citation
- EURASIP JOURNAL ON ADVANCES IN SIGNAL PROCESSING, v. 2016, Article no. 21
- Abstract
- For heavily cluttered environments with low target detection probabilities, tracking filters may fail to estimate the true number of targets and their trajectories. Smoothing may be needed to refine the estimates based on collected measurements. However, due to uncertainties in target motions, heavy clutter, and low target detection probabilities, the forward prediction and the backward prediction may not be properly matched in the smoothing algorithms, so that the smoothing algorithms may fail to detect the true target trajectories. In this paper, we propose a new smoothing algorithm to overcome such difficulties. This algorithm employs two independent integrated probabilistic data association (IPDA) tracking filters: one running forward in time (fIPDA) and the other running backward in time (bIPDA). The proposed algorithm utilizes bIPDA multi-tracks in each fIPDA path track for fusing through data association to obtain the smoothing innovation in a fixed-lag interval. The smoothing innovation is used to obtain the smoothing data association probabilities which update the target trajectory state and the probability of target existence. The fIPDA tracks are updated after smoothing using the smoothing data association probabilities, which makes the fIPDA path tracks robust for maneuvering target tracking in clutter. This significantly improves the target state estimation accuracy compared to the IPDA. The proposed algorithm is called fixed-lag smoothing data association based on IPDA (FLIPDA-S). A simulation study shows that the proposed algorithm improves false track discrimination performance for maneuvering target tracking in clutter.
- URI
- https://asp-eurasipjournals.springeropen.com/articles/10.1186/s13634-016-0321-7http://hdl.handle.net/20.500.11754/49608
- ISSN
- 1687-6180; 1687-6172
- DOI
- 10.1186/s13634-016-0321-7
- Appears in Collections:
- COLLEGE OF ENGINEERING SCIENCES[E](공학대학) > ELECTRICAL ENGINEERING(전자공학부) > Articles
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