Fundamentals of on-road tracking

Robert H. Enders

doi:10.1117/12.352875

15 July 1999 Fundamentals of on-road tracking

Robert H. Enders

Proceedings Volume 3692, Acquisition, Tracking, and Pointing XIII; (1999) https://doi.org/10.1117/12.352875
Event: AeroSense '99, 1999, Orlando, FL, United States

Abstract

Among the various ways in which ground targets differ from air-targets, a most important one is that in order to travel substantial distances, ground targets generally need to move on roads. Alpha-beta type filters or Kalman filters, i.e., tracking filters designed for air-targets, have not dealt with constrained target motion. The use of road-constraints changes both the prediction and update steps in the tracing problem. In this paper a Bayesian framework is developed, in which the road information, in standard vector-product form, is incorporated with the predicted target location into the Bayesian prior. Both the maximum a posterior and Bayes least-squares solutions are then computed. An examination of the results shows that the MAP solutions is potentially unstable when two conditions coincide: the target is located near a road bend and the sensors return is located inside the bend. Because of this potential instability, the preferred update solution turns out to be the along-road average of the updated location probability density. Formulas for calculating or effectively approximately the solution and its along-road variance are given, as well as an association measure for multi-target tracking, track initiation, and clutter rejection by gating.

Citation Download Citation

Robert H. Enders "Fundamentals of on-road tracking", Proc. SPIE 3692, Acquisition, Tracking, and Pointing XIII, (15 July 1999); https://doi.org/10.1117/12.352875

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