scholarly journals Feedback Robust Cubature Kalman Filter for Target Tracking Using an Angle Sensor

Sensors ◽  
2016 ◽  
Vol 16 (5) ◽  
pp. 629 ◽  
Author(s):  
Hao Wu ◽  
Shuxin Chen ◽  
Binfeng Yang ◽  
Kun Chen
Keyword(s):  
Kalman Filter ◽  
Target Tracking ◽  
Angle Sensor ◽  
Cubature Kalman Filter

scholarly journals Robust cubature Kalman filter target tracking algorithm based on genernalized M-estiamtion

2015 ◽  
Vol 64 (21) ◽  
pp. 218401
Author(s):  
Wu Hao ◽  
Chen Shu-Xin ◽  
Yang Bin-Feng ◽  
Chen Kun
Keyword(s):  
Kalman Filter ◽  
Target Tracking ◽  
Tracking Algorithm ◽  
Cubature Kalman Filter

Three-Dimensional Submarine-to-Submarine Passive Target Tracking in the Presence of Non-Gaussian Noises

2021 ◽  
Vol 17 (3) ◽  
pp. 1-24
Author(s):  
Kavitha Lakshmi M. ◽  
Koteswara Rao S. ◽  
Subrahmanyam Kodukula
Keyword(s):  
Kalman Filter ◽  
Target Tracking ◽  
Gaussian Noise ◽  
Target Location ◽  
Unscented Kalman Filter ◽  
Three Dimensional ◽  
Noise Environment ◽  
Cubature Kalman Filter ◽  
Highly Nonlinear ◽  
Non Gaussian

In underwater surveillance, three-dimensional target tracking is a challenging task. The angles-only measurements (i.e., bearing and elevation) obtained by hull mounted sensors are considered to appraise the target motion parameter. Due to noise in measurements and nonlinearity of the system, it is very hard to find out the target location. For many applications, UKF is best estimator that remaining algorithms. Recently, cubature Kalman filter (CKF) is also popular. It is proposed to use UKF (unscented Kalman filter) and CKF (cubature Kalman filter) algorithms that minimize the noise in measurements. So far, researchers carried out this work (target tracking) in Gaussian noise environment, whereas in this paper same work is carried out for non-Gaussian noise environment. The performance evaluation of the filters using Monte-Carlo simulation and Cramer-Rao lower bound (CRLB) is accomplished and the results are analyzed. Result shows that UKF is well suitable for highly nonlinear systems than CKF.

scholarly journals Adaptive Weight Update Algorithm for Target Tracking of UUV Based on Improved Gaussian Mixture Cubature Kalman Filter

Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-12
Author(s):  
Hongjian Wang ◽  
Ying Wang ◽  
Cun Li ◽  
Juan Li ◽  
Qing Li ◽  
...  
Keyword(s):  
Kalman Filter ◽  
Probability Density Function ◽  
Target Tracking ◽  
Probability Density ◽  
Density Function ◽  
Gaussian Mixture ◽  
System State ◽  
Cubature Kalman Filter ◽  
Non Gaussian ◽  
Time Update

The Gaussian mixture filter can solve the non-Gaussian problem of target tracking in complex environment by the multimode approximation method, but the weights of the Gaussian component of the conventional Gaussian mixture filter are only updated with the arrival of the measurement value in the measurement update stage. When the nonlinear degree of the system is high or the measurement value is missing, the weight of the Gauss component remains unchanged, and the probability density function of the system state cannot be accurately approximated. To solve this problem, this paper proposes an algorithm to update adaptive weights for the Gaussian components of a Gaussian mixture cubature Kalman filter (CKF) in the time update stage. The proposed method approximates the non-Gaussian noise by splitting the system state, process noise, and observation noise into several Gaussian components and updates the weight of the Gaussian components in the time update stage. The method contributes to obtaining a better approximation of the posterior probability density function, which is constrained by the substantial uncertainty associated with the measurements or ambiguity in the model. The estimation accuracy of the proposed algorithm was analyzed using a Taylor expansion. A series of extensive trials was performed to assess the estimation precision corresponding to various algorithms. The results based on the data pertaining to the lake trial of an unmanned underwater vehicle (UUV) demonstrated the superiority of the proposed algorithm in terms of its better accuracy and stability compared to those of conventional tracking algorithms, along with the associated reasonable computational time that could satisfy real-time tracking requirements.

Sign in / Sign up

Export Citation Format

Share Document