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Track Initialization from Incomplete Measurements
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BibTeX
@MISC{Daun_trackinitialization,
author = {Martina Daun and Christian R. Berger and Wolfgang Koch},
title = {Track Initialization from Incomplete Measurements},
year = {}
}
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Abstract
Abstract: Target tracking from incomplete measurements using Extended Kalman filtering suffers from unstable behavior due to difficult initialization. Instead of using numerical batch-estimators, we offer an analytical approach to initialize the filter from aminimum number ofobservations. Additionally, we provide the possibility to estimate only sub-sets of parameters, and to reliably model resulting added uncertainties by the covariance matrix. In apractical example with 3D bearings-only measurements, weimplement our approach using geometrical considerationsand give numerical results. The Monte-Carlo simulations showthat the estimation accuracyisclose to the Cramer-Rao lower bound and that the initialization is consistent according to the chi-square 95 % acceptance region within a40km by 40km area, which is four times the distance between the two sensors. 1
Keyphrases
incomplete measurement track initialization numerical batch-estimators geometrical considerationsand aminimum number ofobservations bearings-only measurement numerical result acceptance region analytical approach apractical example covariance matrix monte-carlo simulation extended kalman unstable behavior difficult initialization estimation accuracyisclose added uncertainty
