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A comparative study of nonlinear filters for target tracking in mixed coordinates

机译：混合坐标系下用于目标跟踪的非线性滤波器的比较研究

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摘要

The measurement model nonlinearity is a major challenge in target tracking. This paper presents a comparative performance study of seven nonlinear filters in handling the measurement model nonlinearity. They are: the extended Kalman filter, the unscented filter, the second order divided-differences filter, the Gauss-Hermite quadrature filter, the two-step Kalman filter, the Gaussian particle filter, and the linear minimum mean-square error tracking filter with polar measurements. Comprehensive performance evaluation and comparison of all of the above mainstream nonlinear filters over the same tracking scenarios are conducted via Monte Carlo simulation. The results can facilitate the choice and design of nonlinear tracking filters in mixed coordinates.

机译：测量模型的非线性是目标跟踪的主要挑战。本文介绍了七个非线性滤波器在处理测量模型非线性方面的比较性能研究。它们是：扩展卡尔曼滤波器，无味滤波器，二阶除差滤波器，高斯-赫尔姆特正交滤波器，两步卡尔曼滤波器，高斯粒子滤波器以及具有极地测量。通过蒙特卡洛模拟，对相同跟踪情况下的所有上述主流非线性滤波器进行了综合性能评估和比较。结果可以促进混合坐标系中非线性跟踪滤波器的选择和设计。

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《System Theory (SSST 2010), 2010》|2010年|202-207|共6页
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作者
Katkuri J.R.; Jilkov V.P.; Li X.R.;
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正文语种
中图分类通信理论;
关键词
Nonlinear filters; Target tracking;

机译：非线性滤波器;目标跟踪;

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专利

1. A Maneuvering Target Tracking Filter in Mixed Coordinate System [J] . Dai Yaping, Yang Weiqin Journal of Beijing Institute of Technology . 1995,第1期

机译：混合坐标系下的机动目标跟踪滤波器
2. Recursive update filtering-based variational Bayesian approach for extended target or group target tracking with nonlinear measurements [J] . Liang Zhibing, Liu Fuxian, Fan Chengli Journal of electronic imaging . 2019,第3期

机译：基于递归更新滤波的变分贝叶斯方法用于非线性测量的扩展目标或组目标跟踪
3. Recursive update filtering-based variational Bayesian approach for extended target or group target tracking with nonlinear measurements [J] . Liang Zhibing, Liu Fuxian, Fan Chengli Journal of electronic imaging . 2019,第3期

机译：基于递归更新过滤的变分贝叶斯方法，用于扩展目标或基于非线性测量的目标跟踪
4. A Comparative Study of Nonlinear Filters for Target Tracking in Mixed Coordinates [C] . Jaipal R. Katkuri, Vesselin P. Jilkov, X. Rong Li Southeastern Symposium on System Theory . 2010

机译：混合坐标目标跟踪非线性滤波器的比较研究
5. Nonlinear filtering for stochastic hybrid and nonlinear systems with applications to target tracking. [D] . West, Philip Davidson. 1994

机译：随机混合和非线性系统的非线性滤波及其在目标跟踪中的应用。
6. Passive Underwater Target Tracking: Conditionally Minimax Nonlinear Filtering with Bearing-Doppler Observations [O] . Andrey Borisov, Alexey Bosov, Boris Miller, 2020

机译：被动水下目标跟踪：利用方位多普勒观测条件进行条件极小极大非线性滤波
7. A Comparative Study of Boosted and Adaptive Particle Filters for Affine-Invariant Target Detection and Tracking [O] . Guoliang Fan, Vijay Venkataraman, Li Tang 2008

机译：用于仿射不变目标检测和跟踪的Boosted和自适应粒子滤波器的比较研究

A comparative study of nonlinear filters for target tracking in mixed coordinates

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