Multiple Target Tracking with Radar Applications

By: Samuel Blackman

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Hardcover | 1 December 1986

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Hardcover
464 Pages

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24.13 x 16.51 x 3.18

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Preface	p. xii
The Basics of Multiple-Target Tracking	p. 1
Introduction	p. 1
Basic Processing Definitions	p. 3
Elements of a Basic MTT System	p. 4
Overview of Data Association Issues	p. 11
Suggested Further Background Reading	p. 16
References	p. 16
Methods for Filtering and Prediction	p. 19
Introduction	p. 19
Fixed-Coefficient Filtering	p. 21
Kalman Filtering	p. 25
Approximations and Simplifications of Kalman Filtering	p. 34
Maneuver Detection and Adaptive Filtering	p. 37
Summary and Conclusions	p. 43
References	p. 44
Relationship between Equivalent Noise Bandwidth and Acceleration Error Constant	p. 46
Choice of Tracking Coordinate System and Filtering State Variables	p. 49
Introduction	p. 49
Solution of the Continuous Linear State Equation	p. 51
North-East-Down (NED) Coordinate System	p. 52
Tracking in Cartesian Coordinates	p. 55
Polar Coordinate Systems	p. 56
A Comparative Study of Angle Filtering Methods	p. 65
Tracking with Angle-Only Measurements	p. 72
Summary	p. 72
References	p. 73
Tracking Filter Development	p. 75
Use of Range Rate for NED Velocity Component Estimation	p. 80
Gating and Data Association	p. 83
Introduction	p. 83
Gating Techniques	p. 84
The Assignment Problem	p. 92
Simple Branching or Track Splitting	p. 98
Methods for State Estimation and Covariance Modification to Account for Miscorrelation	p. 101
Summary	p. 105
References	p. 106
Summary of Correlation Statistics	p. 108
Measurement Formation and Processing for Multiple-Target Tracking	p. 115
Introduction	p. 115
Overview of Feedback between Tracking and Detection Functions	p. 116
Adaptive Thresholding for Enhanced Detection and Tracking Performance	p. 117
Measurement Processing for a Clutter Background	p. 124
Observation Redundancy Elimination	p. 126
Methods for Determining Target Multiplicity (Range/Range Rate Resolution)	p. 129
Target Multiplicity Detection through Monopulse Angle Processing	p. 130
Measurement Degradation due to Jet Engine Modulation and Electronic Countermeasures	p. 138
Summary	p. 141
References	p. 142
Derivation of Optimal Threshold Setting	p. 143
Derivations for Target Multiplicity Detection Method	p. 146
Definitions of Track Life Stages (Track Initiation, Confirmation, Deletion, and Quality)	p. 151
Introduction	p. 151
Track Confirmation Using Sequential Analysis	p. 152
Bayesian Track Confirmation	p. 156
Batch Processing Techniques for Track Initiation and Confirmation	p. 159
Indicators of Track Quality (Score)	p. 168
Track Deletion	p. 171
Summary	p. 173
References	p. 174
Approximate Distribution for a Weighted Sum of Chi-Square Variables	p. 176
Score Associated with Clutter Point Designation	p. 177
Analytic Techniques For System Evaluation	p. 179
Introduction	p. 179
Covariance Analysis	p. 179
Techniques for Estimating Correlation Performance	p. 186
Track Confirmation and Retention Statistics Using Markov Chain Techniques	p. 193
Extensions of Markov Chain Techniques	p. 204
Summary	p. 210
References	p. 211
Design Of A Detailed Multiple-Target Tracking Simulation	p. 213
Introduction	p. 213
Generation and Use of Random Numbers	p. 213
Modeling the Radar Detection Process	p. 217
Monte Carlo Simulation Design and Interpretation of Results	p. 223
Selection of Evaluation Statistics	p. 228
Simulation Development	p. 234
References	p. 244
A General Technique for Generating Random Numbers	p. 245
Derivation of the Correlation Properties of an Exponentially Distributed Random Variable	p. 246
A Maximum Likelihood Expression For Data Association	p. 249
Introduction	p. 249
Generalized Technique Development	p. 250
Applications	p. 260
Development of a Sequential Correlation Technique	p. 264
Extension to Multiple Observation-to-Track Correlations	p. 274
Summary	p. 279
References	p. 280
The Bayesian Probabilistic Approach	p. 281
Introduction	p. 281
Multiple Hypothesis Tracking	p. 283
The All-Neighbors Data Association Approach (PDA, JPDA)	p. 299
Concluding Remarks	p. 305
References	p. 306
Group Tracking	p. 309
Introduction	p. 309
Centroid Group Tracking	p. 312
Formation Group Tracking	p. 317
Summary and Extensions	p. 324
References	p. 325
Processing for the Centroid Group Tracking Method	p. 325
Applications Of The Radar Electronically Scanned Antenna To Multiple-Target Tracking	p. 329
Introduction	p. 329
Enhancing Radar Detection with the ESA	p. 331
Adaptive Sampling with the ESA	p. 333
ESA Techniques for Improving Nearest-Neighbor Correlation Performance	p. 342
Implementation of Multiple-Target Tracking Logic for an ESA System	p. 351
Summary	p. 355
References	p. 356
The Use Of Multiple Sensors For Multiple-Target Tracking	p. 357
Introduction	p. 357
Sensor-Level and Central-Level Multiple Sensor Fusion	p. 359
Implementation of Sensor-Level Tracking	p. 363
Fusion and Correlation for Data Including Attributes	p. 368
The Dempster-Shafer (Evidential Reasoning) Method	p. 380
Sensor Allocation	p. 387
Summary	p. 392
References	p. 393
Track Fusion Relationships	p. 395
Special Topics	p. 397
Introduction	p. 397
A Solution for the Optimal Assignment Problem	p. 397
An Implementation Method for Multiple Hypothesis Tracking	p. 402
MTT Implementation in Dense Target Environments	p. 421
A Total System Architecture Including Multiple-Target Tracking	p. 429
References	p. 432
Glossary	p. 433
Index	p. 441
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