Abstract
It is difficult to answer the problem whether the range rate measurement should be adopted to track a target in a tracking scenario. A practical adaptive nonlinear tracking algorithm with the range rate measurement is proposed, which avoids this problem and achieves good accuracy of target state estimation. First, three popular nonlinear filtering algorithms only with the position measurement are surveyed. Second, three popular nonlinear filtering algorithms with the position and range rate measurements are surveyed. Then, a novel tracking algorithm with range rate measurement is proposed based on the cumulative sum detector and the above two kinds of nonlinear algorithms. The results of simulation experiment demonstrate that the range rate measurement could reduce accuracy of the target state estimation in mismatch tracking scenarios. The results of simulation experiment also verify that the performance of proposed algorithm is better than the current state and the art interacting multiple-model algorithm and can well follow the state estimation output of the measurement equation matching the tracking scenario.
Highlights
Target tracking algorithm with the range and bearing measurements from the radar is widely applied in practice
In order to avoid the decrease in the target tracking performance due to the improper use of range rate measurement, a practical adaptive tracking algorithm with the range rate measurement based on the cumulative sum (CUSUM) detector is proposed in this article to achieve the good accuracy of target state estimation, which is close to the best performance of tracking algorithm with single measurement equation in different scenarios
The use of range rate measurement may not improve the target tracking performance, as the special tracking algorithm performance is related to the special tracking scenario
Summary
Target tracking algorithm with the range and bearing measurements from the radar is widely applied in practice. In order to obtain better accuracy of state estimation, it is necessary to distinguish where the position measurement should be used and where the position and range rate measurements should be used This boundary is difficult to determine, because the accuracy of state estimation is influenced by the nonlinear measurement equation, by the true movement of target, measurement noise, filtering algorithm, target motion model, and so on. In order to avoid the decrease in the target tracking performance due to the improper use of range rate measurement, a practical adaptive tracking algorithm with the range rate measurement based on the cumulative sum (CUSUM) detector is proposed in this article to achieve the good accuracy of target state estimation, which is close to the best performance of tracking algorithm with single measurement equation in different scenarios.
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