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New α-β Filters in Terms of Steady State Velocity
Yoshio Kosuge 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
In this paper, we present α-β filters that are obtained by minimizing the product of the steady state variance of the estimated velocity for a constant velocity target and the nth (n is a non-negative integer) power of the steady state estimated velocity error for a constant acceleration target under the condition that the steady state position error for a constant acceleration target is constant. We assume that only position measurements are received from a sensor.
Tracking Algorithm Inheriting Smoothing Vector in Splitting Target Tracking
Yasushi Obata,Ryoji Maekawa,Masayoshi Ito,Hiroshi Kameda,Yoshio Kosuge 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
To track splitting targets using radar measurements, the tracking algorithm is required tomaintain the track of the existing target and to initiate a track of new target. In this paper, we proposethe Track Oriented MHT (Multiple Hypothesis Tracking) using the smoothing velocity test. In the proposed algorithm, the smoothing velocity vector of existing track is inherited in the new track.Through simulations, we show that the MHT’s success rate of both maintaining the existing track and initiating the new track, is 96%. Furthermore, we show that the improved method has an effect ofreducing the probability of false track establishment.