TY - GEN
T1 - A Terrain Data-Assisted Tracking Method for Rolling Rock
AU - Chang, Ningyuan
AU - Chen, Youwang
AU - Lin, Ruiqi
AU - Tian, Weiming
AU - Deng, Yunkai
N1 - Publisher Copyright:
© 2024 IEEE.
PY - 2024
Y1 - 2024
N2 - The rolling rock's trajectory is variable and complex, which could easily cause false associations, and affect tracking accuracy. To address this issue, a rolling rock tracking method based on terrain data assistance is proposed. Firstly, three-dimensional (3D) terrain data is utilized to predict the rolling rock's motion direction and project it onto a two-dimensional(2D) radar coordinate system. Then, based on the deviation between the associated measurements and the predicted direction, false association are rejected, and the state and covariance matrix are corrected using the Extended Kalman Filter (EKF). Finally, the correction of rolling rock trajectory is achieved, enhancing tracking performance. Experimental data is used to validate the effectiveness of this method.
AB - The rolling rock's trajectory is variable and complex, which could easily cause false associations, and affect tracking accuracy. To address this issue, a rolling rock tracking method based on terrain data assistance is proposed. Firstly, three-dimensional (3D) terrain data is utilized to predict the rolling rock's motion direction and project it onto a two-dimensional(2D) radar coordinate system. Then, based on the deviation between the associated measurements and the predicted direction, false association are rejected, and the state and covariance matrix are corrected using the Extended Kalman Filter (EKF). Finally, the correction of rolling rock trajectory is achieved, enhancing tracking performance. Experimental data is used to validate the effectiveness of this method.
KW - 3D terrain data
KW - Data association
KW - Direction prediction
KW - Extended Kalman Filter
KW - Radar tracking
KW - Rolling rock
UR - http://www.scopus.com/inward/record.url?scp=86000033121&partnerID=8YFLogxK
U2 - 10.1109/ICSIDP62679.2024.10868637
DO - 10.1109/ICSIDP62679.2024.10868637
M3 - Conference contribution
AN - SCOPUS:86000033121
T3 - IEEE International Conference on Signal, Information and Data Processing, ICSIDP 2024
BT - IEEE International Conference on Signal, Information and Data Processing, ICSIDP 2024
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2nd IEEE International Conference on Signal, Information and Data Processing, ICSIDP 2024
Y2 - 22 November 2024 through 24 November 2024
ER -