Validation gating for non-linear non-gaussian target tracking

Bailey, Tim, Upcroft, Ben and Durrant-Whyte, Hugh (2006). Validation gating for non-linear non-gaussian target tracking. In: 2006 9th International Conference on Information Fusion. 9th International Conference on Information Fusion, Florence, Italy, (269-274). 10 - 13 Jul 2006. doi:10.1109/ICIF.2006.301597


Author Bailey, Tim
Upcroft, Ben
Durrant-Whyte, Hugh
Title of paper Validation gating for non-linear non-gaussian target tracking
Conference name 9th International Conference on Information Fusion
Conference location Florence, Italy
Conference dates 10 - 13 Jul 2006
Proceedings title 2006 9th International Conference on Information Fusion
Journal name 2006 9th International Conference on Information Fusion, Vols 1-4
Place of Publication New York, USA
Publisher IEEE
Publication Year 2006
Sub-type Fully published paper
DOI 10.1109/ICIF.2006.301597
ISBN 1-4244-0953-5
Volume 1-4
Start page 269
End page 274
Total pages 6
Language eng
Abstract/Summary This paper develops a general theory of validation gating for non-linear non-Gaussian models. Validation gates are used in target tracking to cull very unlikely measurement-to-track associations, before remaining association ambiguities are handled by a more comprehensive (and expensive) data association scheme. The essential property of a gate is to accept a high percentage of correct associations, thus maximising track accuracy, but provide a sufficiently tight bound to minimise the number of ambiguous associations. For linear Gaussian systems, the ellipsoidal validation gate is standard, and possesses the statistical property whereby a given threshold will accept a certain percentage of true associations. This property does not hold for non-linear non-Gaussian models. As a system departs from linear-Gaussian, the ellipsoid gate tends to reject a higher than expected proportion of correct associations and permit an excess of false ones. In this paper, the concept of the ellipsoidal gate is extended to permit correct statistics for the non-linear non-Gaussian case. The new gate is demonstrated by a bearing-only tracking example
Subjects 091405 Mining Engineering
0913 Mechanical Engineering
Q-Index Code E1

 
Versions
Version Filter Type
Citation counts: TR Web of Science Citation Count  Cited 0 times in Thomson Reuters Web of Science Article
Scopus Citation Count Cited 11 times in Scopus Article | Citations
Google Scholar Search Google Scholar
Created: Wed, 13 Jan 2010, 18:28:45 EST by Thelma Whitbourne on behalf of Faculty Of Engineering, Architecture & Info Tech