Multitarget-multisensor Tracking

Applications and Advances v. 3

By: Yaakov Bar-Shalom (Editor), William Dale Blair (Editor)

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Hardcover | 30 September 2000 | Edition Number 2

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616 Pages

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Providing the most up-to-date information available on sensors and tracking, this new resource helps you develop practical, innovative design solutions for single and multiple sensor systems, as well as biomedical applications for automated cell motility study systems. Plus, it discusses important innovations and applications in multitarget tracking, featuring succinct reviews of emergent technologies from the hottest R& D labs, to keep you at the forefront of your profession.

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Preface	p. xiii
Introduction	p. xv
Practical Aspects of Multisensor Tracking	p. 1
Introduction	p. 1
Multisensor Tracking System Architectures	p. 6
Distributed Tracking With Reporting Responsibility	p. 7
Composite Tracking	p. 10
Coordinate Systems	p. 19
Earth-Centered Coordinates	p. 20
Platform Coordinates	p. 23
Absolute Versus Relative Coordinates	p. 27
Cartesian Versus Spherical	p. 28
Multiplatform-Multisensor Composite Track Filtering	p. 30
Target Motion Model	p. 31
Kinematic State Estimation With Nonlinear Measurements	p. 33
Processing Local Measurements	p. 38
Processing Remote Measurements	p. 41
Time-Delayed, Out-of-Sequence Measurements	p. 43
Maneuvering Targets	p. 45
Gridlock	p. 47
Modeling of Gridlock Errors	p. 48
Relative Gridlock	p. 51
Absolute Gridlock	p. 52
Track Filtering With Remote Measurements	p. 52
Measurement-To-Track Data Association	p. 53
Local Measurements	p. 54
Remote Measurements With Gridlock Errors	p. 57
Choosing an Association Approach	p. 58
Track Management	p. 59
Track Initiation	p. 60
Track Number Management	p. 62
Split or Diverging Tracks	p. 62
Track Swaps	p. 64
Track Deletion	p. 65
Track-to-Track Association for Deleting Redundant Tracks	p. 65
Multisensor Resource Allocation	p. 66
Hardware and Software Considerations	p. 68
CPU and Memory	p. 69
Software Development	p. 70
System Integration Test Considerations	p. 72
Survey of Assignment Techniques for Multitarget Tracking	p. 77
Introduction	p. 77
General Overview	p. 77
Scope	p. 81
Multitarget Tracking Overview	p. 82
Obtain Scan Measurements	p. 83
Data Association Interface	p. 83
Data Association	p. 86
Track Formation and Maintenance	p. 86
2-D Assignment Techniques	p. 87
2-D Assignment Problem	p. 87
m-Best 2-D Assignment Problem	p. 89
2-D Assignment Algorithms	p. 90
m-Best 2-D Assignment Algorithms	p. 101
2-D Assignment Results	p. 104
Parallelizations of 2-D Assignment Algorithms	p. 108
2-D Parallelization Results	p. 118
S-D Assignment Techniques	p. 125
S-D Assignment Formulations	p. 127
Lagrangian Relaxation-Based S-D Assignment Algorithms	p. 134
m-best S-D Assignment Algorithm	p. 142
S-D Assignment Results	p. 143
Summary	p. 147
IMM State Estimation	p. 156
Composite Measurement Covariance	p. 159
IMM Estimator with Nearest-Neighbor Joint Probabilistic Data Association	p. 161
Introduction	p. 161
IMM Estimator	p. 164
Probabilistic Data Association Techniques	p. 168
Probabilistic Data Association Filter (PDAF)	p. 173
Joint Probabilistic Data Association Filter (JPDAF)	p. 175
Cheap JPDA	p. 178
Suboptimal JPDA	p. 181
Nearest-Neighbor JPDA (NNJPDA)	p. 183
Combining the IMM and NNJPDA	p. 184
Performance Comparisons	p. 186
Summary and Conclusions	p. 195
Multiassignment for Tracking a Large Number of Overlapping Objects	p. 199
Introduction	p. 199
Background	p. 202
Cell Tracking	p. 202
The Standard Assignment Approach and Motivation for Multiassignment	p. 204
Iterated Multiassignment	p. 207
One-to-One Assignment	p. 207
The Iterated Multiassignment Algorithm	p. 210
Estimation Algorithm	p. 214
Modified PDA Filter	p. 214
Automatic Track Formation and Termination	p. 219
Results	p. 220
Global Performance	p. 220
Computational Load	p. 224
Conclusions	p. 225
Modified Association Costs for the Second-Round Assignments	p. 228
Modified Association Costs for Subsequent Assignment Rounds	p. 229
Pseudocode for Iterated Multiassignment	p. 230
Finite Difference Methods for Nonlinear Filtering and Automatic Target Recognition	p. 233
Introduction	p. 233
Mathematical Formulation	p. 236
Time Evolution	p. 237
Example: The CV Model	p. 238
Boundary Conditions	p. 239
The CT Model	p. 240
The Dyakonov Scheme	p. 241
Thomas' Algorithm	p. 244
Measurement Update	p. 245
Measurement Update With Multimodal Distributions	p. 245
Linear Gaussian Measurements	p. 246
Applications	p. 246
Elevation Tracking in Multipath	p. 246
Low-SNR Point-Target Tracking	p. 248
Joint Tracking and Recognition	p. 251
Discussion	p. 256
Large-Scale Ground Target Tracking With Single and Multiple MTI Sensors	p. 259
Introduction	p. 259
Background	p. 264
Ground Target Tracking Scenario	p. 264
Moving Target Indicator Measurements	p. 267
Solution Methodology	p. 269
Extended Kalman Filter	p. 269
VS-IMM Estimator	p. 272
Adaptive Filter Mode Set Selection	p. 274
Data Association	p. 282
Simulation Results for the Single-Sensor Case	p. 291
Multitarget-Multisensor Tracking Problem	p. 297
Multisensor Fusion Using Assignment	p. 298
Standard S-D Assignment Across Sensors	p. 298
Maximum Time Depth S-D Assignment	p. 302
Tentative Estimates	p. 309
Simulation Results for the Multisensor Case	p. 310
Conclusions	p. 316
Radar Systems Modeling for Tracking	p. 321
Introduction	p. 321
Tracking With Radar Measurements	p. 322
Resolution and Data Association	p. 322
Kinematic State Estimation	p. 326
Overview of Radar Systems	p. 330
Architecture	p. 331
Radar Range Equation	p. 334
Radar Signals and Detections	p. 337
Fixed-Amplitude Target	p. 340
Rayleigh Targets	p. 341
Swerling 4 Targets	p. 343
Rician Targets	p. 343
Jammers	p. 344
Sea-Surface-Induced Multipath	p. 344
Radar Clutter	p. 349
Constant False Alarm Processing	p. 351
Waveforms	p. 354
Unmodulated Pulse	p. 359
Frequency-Modulated Waveforms	p. 360
Phase-Coded Waveforms	p. 368
Doppler Processing	p. 370
Range and Range Rate Measurements	p. 374
Monopulse Angle-Of-Arrival Measurements	p. 376
Monopulse Signals	p. 378
Conventional Monopulse Processing	p. 380
Fixed-Amplitude Targets	p. 381
Rayleigh Target	p. 382
Two Unresolved Rayleigh Targets	p. 383
Elevations Measurements in the Presence of Sea-Surface-Induced Multipath	p. 387
Further Reading	p. 388
ECM Modeling for Multitarget Tracking and Data Association	p. 395
Introduction	p. 395
Overview of Radar	p. 397
Overview of Radar Electronic Countermeasures	p. 399
Importance of ECM in Target Tracking	p. 400
Countermeasures Against Non-Radar Target-Tracking Sensors	p. 401
Radar Background	p. 401
Target-Tracking Radars	p. 402
Angle Processing	p. 402
Radar Waveforms and Processing	p. 404
Radar Phenomenology	p. 406
ECM and ECCM Background	p. 408
ECM System Taxonomy	p. 408
Detection and Acquisition Denial ECM Techniques	p. 410
Track-Break ECM Techniques	p. 414
Electronic Counter-Countermeasures Techniques	p. 418
ECM/ECCM Assumptions for Tracking Studies	p. 424
ECM Effectiveness Analysis Methods	p. 426
Transponder Jammer Analysis	p. 426
Repeater Jammer Analysis	p. 436
Models of ECM in Target Tracking	p. 437
Nomenclature	p. 437
Denial ECM Models	p. 439
Deception ECM Models	p. 442
ECCM in Multitarget Tracking	p. 449
Chi-Square Test for RGPO Rejection	p. 450
Deweighting in the PDAF for RGPO Rejection	p. 452
IMM/MHT Technique for RGPO Rejection	p. 452
Decomposition and Fusion Technique for RGPO Rejection	p. 453
Summary and Future Trends	p. 455
Waveform Detection/Tracking Performance at the System Level	p. 459
Introduction	p. 459
Modeling	p. 462
Detection and Estimation	p. 462
Resolution Cell	p. 469
Target Motion and State Estimation	p. 470
HYCA Analysis Model	p. 471
Results and Discussion for Sonar	p. 473
LFM and CF Waveforms	p. 474
Other Waveforms	p. 483
Swerling 3 Model	p. 483
Results and Discussion for Radar	p. 483
Constant Frequency Pulse Train	p. 486
Linear Frequency Modulated Pulse Train	p. 491
Summary	p. 495
Engineer's Guide to Variable-Structure Multiple-Model Estimation for Tracking	p. 499
Introduction	p. 499
Multiple-Model Estimation	p. 501
General Description	p. 501
Filter Reinitialization and the IMM Algorithm	p. 505
Introduction to VSMM Estimation	p. 508
Limitations of Fixed Structures	p. 510
When Should a Variable Structure Be Used?	p. 512
The Recursive Adaptive Model-Set Approach	p. 513
Model-Set Adaptation	p. 514
Sequential Versus Nonsequential Solutions	p. 514
Model-Set Activation/Generation and Termination	p. 515
Model-Set Adaptation as Hypothesis Testing Problems	p. 516
Model-Set Probability and Likelihood	p. 518
Solutions for Problems Involving Two Model Sets	p. 519
Solutions for Problems Involving More Than Two Model Sets	p. 521
General Discussions of the Solutions	p. 524
Estimation Given a Model-Set Sequence	p. 526
Initialization of New Models and Filters	p. 526
The VSIMM Recursion	p. 528
Fusion of Two MM Estimators	p. 528
VSMM Algorithms	p. 530
Categories of Variable Structures	p. 531
Model-Group Switching Algorithm	p. 533
Likely-Model Set Algorithm	p. 536
Evaluation of MM Algorithms	p. 537
A Maneuvering Target Tracking Example	p. 540
The Problem	p. 540
Design of the MGS Algorithm	p. 540
Design of the LMS Algorithm	p. 544
Common Design Elements	p. 545
Test Scenarios	p. 546
Simulation Results and Discussions	p. 547
Another Maneuvering Target Tracking Example	p. 554
The Problem	p. 556
Design of Fixed-, Switching-, and Adaptive-Grid IMM Algorithms	p. 556
Test Scenarios	p. 557
Simulation Results and Discussions	p. 558
Concluding Remarks	p. 561
Index	p. 569
Table of Contents provided by Syndetics. All Rights Reserved.

Multitarget-multisensor Tracking

Applications and Advances v. 3

At a Glance

Hardcover

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