Target Tracking in Standoff Jammer Using Unscented Kalman Filter and Particle Fiter with Negative Information

doi:10.1007/s12204-014-1488-4

Abstract

Abstract: To handle the problem of target tracking in the presence of standoff jamming (SOJ), a Gaussian sum unscented Kalman filter (GSUKF) and a Gaussian sum particle filter (GSPF) using negative information (scans or dwells with no measurements) are implemented separately in this paper. The Gaussian sum likelihood which is derived from a sensor model accounting for both the positive and the negative information is used. GSUKF is implemented by fusing the state estimate of two or three UKF filters with proper weights which are explicitly derived in this paper. Other than GSUKF, the Gaussian sum likelihood is directly used in the weight update of the GSPF. Their performances are evaluated by comparison with the Gaussian sum extended Kalman filter (GSEKF) implementation. Simulation results show that GSPF outperforms the other filters in terms of track loss and track accuracy at the cost of large computation complexity. GSUKF and GSEKF have comparable performance; the superiority of one over another is scenario dependent.

Key words: target tracking| standoff jamming (SOJ)| negative information| unscented Kalman filter (UKF)| particle filter

摘要： To handle the problem of target tracking in the presence of standoff jamming (SOJ), a Gaussian sum unscented Kalman filter (GSUKF) and a Gaussian sum particle filter (GSPF) using negative information (scans or dwells with no measurements) are implemented separately in this paper. The Gaussian sum likelihood which is derived from a sensor model accounting for both the positive and the negative information is used. GSUKF is implemented by fusing the state estimate of two or three UKF filters with proper weights which are explicitly derived in this paper. Other than GSUKF, the Gaussian sum likelihood is directly used in the weight update of the GSPF. Their performances are evaluated by comparison with the Gaussian sum extended Kalman filter (GSEKF) implementation. Simulation results show that GSPF outperforms the other filters in terms of track loss and track accuracy at the cost of large computation complexity. GSUKF and GSEKF have comparable performance; the superiority of one over another is scenario dependent.

关键词: target tracking| standoff jamming (SOJ)| negative information| unscented Kalman filter (UKF)| particle filter

CLC Number:

TN 972

HOU Jing* (侯静), JING Zhan-rong (景占荣), YANG Yan (羊彦). Target Tracking in Standoff Jammer Using Unscented Kalman Filter and Particle Fiter with Negative Information[J]. Journal of shanghai Jiaotong University (Science), 2014, 19(2): 181-189.

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