Unbiased Tracking with Converted Measurements

Abstract

In many target tracking problems it is advantageous to perform tracking in a different coordinate system than the measurements. In these cases, the measurements require some form of conversion prior to use in tracking. There are two potential issues that arise when performing converted measurement tracking. The first occurs when the measurement conversion results in a biased (converted) measurement. The second is estimation bias that occurs when the estimate of the converted measurement error covariance is correlated with the measurement noise. First, previously proposed unbiased conversions are examined. Following this, the decorrelated unbiased converted measurement approach is examined and shown to overcome the issues of conversion bias and estimation bias. Finally this approach is evaluated in a Converted Measurement Kalman Filter (CMKF).

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Document Details

Document Type
Technical Report
Publication Date
May 01, 2012
Accession Number
ADA585002

Entities

People

  • Peter Willett
  • Steve V. Bordonaro
  • Yaakov Bar-Shalom

Organizations

  • University of Connecticut

Tags

Communities of Interest

  • Materials and Manufacturing Processes

DTIC Thesaurus Topics

  • Cartesian Coordinates
  • Connecticut
  • Conversion
  • Coordinate Systems
  • Covariance
  • Errors
  • Estimators
  • Filters
  • Gaussian Distributions
  • Kalman Filters
  • Measurement
  • Noise
  • Radar Tracking
  • Standards
  • Target Tracking
  • Targets
  • Test And Evaluation

Readers

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