Multitarget-multisensor tracking: principles and techniques

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Автор: Yaakov Bar-Shalom, Xiao-Rong Li

Название: Multitarget-multisensor tracking: principles and techniques

Издательство: YBS Publishing

Год: 1995

Формат: djvu

Язык: Английский

Размер: 5,3 Мб

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These lecture notes in textgraph™ format — a completely self-contained text suitable for use as viewgraphs as well — cover the topic of the estimation of the states of targets in surveillance systems operating in a multitarget-multisensor environment. This problem is characterized by measurement origin uncertainty — typical for low observables — in addition to the usual noises in the state equations. Such a situation occurs in an environment where there is clutter or the false alarm rate is high or due to the presence of several targets in the same neighborhood.

The tools for evaluation and design of algorithms for measurement association and tracking are presented. Explicit consideration is given for measurements obtained from different sensors. These techniques form the basis for the design of automated decision systems in a multitarget-multisensor situation. The modeling accounts for target maneuvers, detection probability, false alarms, interference from other targets and the finite resolution capability of sensors. The problems of track formation, track maintenance and track-to-track association and fusion in a multisensor situation are considered. The optimization of certain signal processing parameters based on tracking performance is also discussed. Many of these techniques have applications to state estimation when using multiple sensors in control systems, e.g., autonomous vehicles and robotics.