Use of pseudo measurement to real-time target tracking

Yaping Dai; Kotaro Hirasawa; Junichi Murata; Jinglu Hu; Chunzhi Jin; Zhen Liu

Use of pseudo measurement to real-time target tracking

Yaping Dai^*, Kotaro Hirasawa, Junichi Murata, Jinglu Hu, Chunzhi Jin, Zhen Liu

^*Corresponding author for this work

School of Automation

Beijing Institute of Technology

Research output: Contribution to journal › Conference article › peer-review

2 Citations (Scopus)

Abstract

In this paper, a pseudo measurement model is adopted to deal with the Kalman filter problem with color measurement noise. It is assumed that the measurement noise is color, and be described by AR(n) model. The state equation is set up according to Singer's model. The measurement equation is set up in polar coordinate and the range rate measurement is combined with ordinary data (i.e. there are four measurement data now: range r, azimuth θ_a, elevation θ_e and range rate r). By means of proper coordinate transformation, the matrix of Kalman gain and the matrix of filter error covariance will be decoupled. So that the computing requirement of the algorithm will be reduced and can be performed in real time.

Original language	English
Pages (from-to)	V-33 - V-38
Journal	Proceedings of the IEEE International Conference on Systems, Man and Cybernetics
Volume	5
Publication status	Published - 1999
Event	1999 IEEE International Conference on Systems, Man, and Cybernetics 'Human Communication and Cybernetics' - Tokyo, Jpn Duration: 12 Oct 1999 → 15 Oct 1999

Cite this

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title = "Use of pseudo measurement to real-time target tracking",

abstract = "In this paper, a pseudo measurement model is adopted to deal with the Kalman filter problem with color measurement noise. It is assumed that the measurement noise is color, and be described by AR(n) model. The state equation is set up according to Singer's model. The measurement equation is set up in polar coordinate and the range rate measurement is combined with ordinary data (i.e. there are four measurement data now: range r, azimuth θa, elevation θe and range rate r). By means of proper coordinate transformation, the matrix of Kalman gain and the matrix of filter error covariance will be decoupled. So that the computing requirement of the algorithm will be reduced and can be performed in real time.",

author = "Yaping Dai and Kotaro Hirasawa and Junichi Murata and Jinglu Hu and Chunzhi Jin and Zhen Liu",

year = "1999",

language = "English",

volume = "5",

pages = "V--33 -- V--38",

journal = "Proceedings of the IEEE International Conference on Systems, Man and Cybernetics",

issn = "0884-3627",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

note = "1999 IEEE International Conference on Systems, Man, and Cybernetics 'Human Communication and Cybernetics' ; Conference date: 12-10-1999 Through 15-10-1999",

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TY - JOUR

T1 - Use of pseudo measurement to real-time target tracking

AU - Dai, Yaping

AU - Hirasawa, Kotaro

AU - Murata, Junichi

AU - Hu, Jinglu

AU - Jin, Chunzhi

AU - Liu, Zhen

PY - 1999

Y1 - 1999

N2 - In this paper, a pseudo measurement model is adopted to deal with the Kalman filter problem with color measurement noise. It is assumed that the measurement noise is color, and be described by AR(n) model. The state equation is set up according to Singer's model. The measurement equation is set up in polar coordinate and the range rate measurement is combined with ordinary data (i.e. there are four measurement data now: range r, azimuth θa, elevation θe and range rate r). By means of proper coordinate transformation, the matrix of Kalman gain and the matrix of filter error covariance will be decoupled. So that the computing requirement of the algorithm will be reduced and can be performed in real time.

AB - In this paper, a pseudo measurement model is adopted to deal with the Kalman filter problem with color measurement noise. It is assumed that the measurement noise is color, and be described by AR(n) model. The state equation is set up according to Singer's model. The measurement equation is set up in polar coordinate and the range rate measurement is combined with ordinary data (i.e. there are four measurement data now: range r, azimuth θa, elevation θe and range rate r). By means of proper coordinate transformation, the matrix of Kalman gain and the matrix of filter error covariance will be decoupled. So that the computing requirement of the algorithm will be reduced and can be performed in real time.

UR - http://www.scopus.com/inward/record.url?scp=0033315639&partnerID=8YFLogxK

M3 - Conference article

AN - SCOPUS:0033315639

SN - 0884-3627

VL - 5

SP - V-33 - V-38

JO - Proceedings of the IEEE International Conference on Systems, Man and Cybernetics

JF - Proceedings of the IEEE International Conference on Systems, Man and Cybernetics

T2 - 1999 IEEE International Conference on Systems, Man, and Cybernetics 'Human Communication and Cybernetics'

Y2 - 12 October 1999 through 15 October 1999

ER -

Use of pseudo measurement to real-time target tracking

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