This content is not included in
your SAE MOBILUS subscription, or you are not logged in.
Nonlinear IMM-SUKF Algorithm for Maneuvering Target Tracking with Bearings-Only Measurement
Technical Paper
2019-01-6005
ISSN: 0148-7191, e-ISSN: 2688-3627
Annotation ability available
Sector:
Event:
Automotive Technical Papers
Language:
English
Abstract
In this paper, we present an efficient filtering algorithm to perform accurate estimation in jump Markov nonlinear systems, which we aim to contribute in solving the problem of model-based body motion estimation using bearings-only measurement, the Interacting Multiple Model (IMM) algorithm is specially designed to track accurately maneuvering targets whose state and/or measurement (assumed to be linear) models change during motion transition. However, when these models are nonlinear, the IMM algorithm must be modified in order to guarantee an accurate track. In this paper we propose to avoid the Extended Kalman Filter (EKF) because of its limitations and substitute it with the Scaled Unscented Kalman Filter (SUKF) which seems to be more efficient especially according to the simulation results obtained with the Interacting Multiple Model Scaled Unscented Kalman Filter (IMM-SUKF).
Authors
Citation
Sebbagh, A. and Kechida, S., "Nonlinear IMM-SUKF Algorithm for Maneuvering Target Tracking with Bearings-Only Measurement," SAE Technical Paper 2019-01-6005, 2019, https://doi.org/10.4271/2019-01-6005.Also In
References
- Ye , M. , Anderson , B.D.O. , and Yu , C. Bearing-Only Measurement Self-Localization, Velocity Consensus and Formation Control IEEE Transactions on Aerospace & Electronic Systems 53 2 575 586 2017
- Nardone , S.C. , Lindgren , A.G. , and Gong , K.F. Fundamental Properties and Performance of Conventional Bearings-Only Target Motion Analysis IEEE Transactions on Automatic Control 29 9 775 787 1984
- Doucet , A. , Godsill , S. , and Andrieu , C. On Sequential Monte Carlo Methods for Bayesian Filtering Statistics and Computing 10 197 208 2000
- Fox , V. , Hightower , J. , Schulz , D. et al. Bayesian Filtering for Location Estimation IEEE Pervasive Computing 2 3 24 33 2003
- Li , L.Q. and Xie , W.X. Bearings-Only Maneuvering Target Tracking Based on Fuzzy Clustering in a Cluttered Environment International Journal of Electronics Communication 68 2 130 137 2014
- Cui , N. , Hong , L. , and Layne , J.R. A Comparison of Nonlinear Filtering Approaches with an Application to Ground Target Tracking Signal Processing 85 8 1469 1492 2005
- Toledo-Moreo , R. , Zamora-Izquierdo , M.A. , Ubeda-Mi~narro , B. et al. High-Integrity IMM-EKF-Based Road Vehicle Navigation with Low-Cost GPS/SBAS/INS IEEE Transactions on Intelligent Transportation Systems 8 3 491 511 2007
- Zhao , S. , Wang , Z. , and Liu , F. State Estimation for Nonlinear Discrete-Time Systems with Markov Jumps and Nonhomogeneous Transition Probabilities Mathematical Problems in Engineering 2013
- Li , W. and Jia , Y. Location of Mobile Station with Maneuvers Using an IMM-Based Cubature Kalman Filter IEEE Transactions on Industrial Electronics 59 11 4338 4348 2012
- Sheng , H. , Zhao , W. , and Wang , J. Interacting Multiple Model Tracking Algorithm Fusing Input Estimation and Best Linear Unbiased Estimation Filter IET Radar, Sonar & Navigation 11 1 70 77 2017
- Djouadi , M.S. , Sebbagh , A. , and Berkani , D. IMM Based UKF and IMM Based EKF Algorithms for Tracking Highly Maneuverable Target Architectural and Construction Science 15 1 19 51 2005
- Li , X.R. and Bar-Shalom , Y. Design of an Interacting Multiple Model Algorithm for Air Traffic Control Tracking IEEE Transactions on Control System 1 3 186 194 1993
- Petsios , M.N. , Alivizatos , E.G. , and Uzunoglu , N.K. Maneuvering Target Tracking Using Multiple Bistatic Range and Range Rate Measurements Signal Processing 87 4 665 686 2007
- Konatowski , S. , Kaniewski , P. , and Matuszewski , J. Comparison of Estimation Accuracy of EKF, UKF and PF Filters Annual Navigation 23 1 69 87 2016
- Julier , S.J. , Uhlmann , J.K. , and Durrant-Whyte , H.F. A New Method for the Nonlinear Transformation of Means and Covariances in Filters and Estimators IEEE Transactions on Automatic Control 45 3 477 482 2000
- Wang , H. , Kirubarajan , T. , and Bar Shalom , Y. Precision Large Scale Air Traffic Surveillance Using an IMM Estimator with Assignment IEEE Transactions on Aerospace and Electronics 35 1 255 266 1999
- Sebbagh , A. and Tebbikh , H. Nonlinear Multiple Model Particle Filters Algorithm for Tracking Multiple Targets Architectural and Construction Science 21 1 37 60 2011
- Mazor , E. , Averbuch , A. , Bar-Shalom , Y. et al. Interacting Multiple Model Methods in Target Tracking: A Survey IEEE Transactions on Aerospace and Electronic Systems 34 1 103 123 1998
- Sebbagh , A. and Tebbikh , H. Parallel Particle Filters for Multiple Target Tracking International Arab Journal of Information Technology 13 6 707 714 2016
- Foo , P.H. and Ng , G.W. Combining the Interacting Multiple Model Method with Particle Filters for Maneuvering Target Tracking IET Radar, Sonar & Navigation 5 3 234 255 2011
- Julier , S.J. and Uhlmann , J.K. A General Method for Approximating Nonlinear Transformations of Probability Distributions 1996 http://www.robots.ox.ac.uk/siju
- Julier , S.J. and Uhlmann , J.K. Unscented Filtering and Nonlinear Estimation IEEE Proceedings 92 3 401 422 2004
- Julier , S.J. The Scaled Unscented Transformation Proceedings of the American Control Conference Anchorage, AK 2002 4555-4559 6
- Lefebvre , T. , Bruyninchx , H. , and Schutter , J.D. Comment on “A new method for the Nonlinear Transformation of Means and Covariances in Filters and Estimators” IEEE Transactions on Automatic Control 47 8 1406 1409 2002
- Julier , S.J. , and Uhlmann , J.K. A New Extension of the Kalman Filter to Nonlinear Systems The 11th International Symposium on Aerospace/Defense Sensor, Simulation and Control Orlando, FL 1997
- Julier , S.J. , Uhlmann , J.K. , and Durrant-Whyte , H.F. New Approach for Filtering Nonlinear Systems Proceedings of the American Control Conference Seattle, WA 1995 1628-1632
- Djouadi , M.S. , Sebbagh , A. , and Berkani , D. A Nonlinear Algorithm for Maneuvering Target Visual-based Tracking IEEE Proceedings of International Conference on Intel Sensor and Interface Process Chennai, India 2005 61 66
- Li , X.R. and Jilkov , V.P. Survey of Maneuvering Target Tracking. Part V: Multiple-Model Methods IEEE Transactions on Aerospace and Electronic Systems 41 4 1255 1321 2005