Share Email Print

Proceedings Paper

Fundamentals of on-road tracking
Author(s): Robert H. Enders
Format Member Price Non-Member Price
PDF $14.40 $18.00
cover GOOD NEWS! Your organization subscribes to the SPIE Digital Library. You may be able to download this paper for free. Check Access

Paper Abstract

Among the various ways in which ground targets differ from air-targets, a most important one is that in order to travel substantial distances, ground targets generally need to move on roads. Alpha-beta type filters or Kalman filters, i.e., tracking filters designed for air-targets, have not dealt with constrained target motion. The use of road-constraints changes both the prediction and update steps in the tracing problem. In this paper a Bayesian framework is developed, in which the road information, in standard vector-product form, is incorporated with the predicted target location into the Bayesian prior. Both the maximum a posterior and Bayes least-squares solutions are then computed. An examination of the results shows that the MAP solutions is potentially unstable when two conditions coincide: the target is located near a road bend and the sensors return is located inside the bend. Because of this potential instability, the preferred update solution turns out to be the along-road average of the updated location probability density. Formulas for calculating or effectively approximately the solution and its along-road variance are given, as well as an association measure for multi-target tracking, track initiation, and clutter rejection by gating.

Paper Details

Date Published: 15 July 1999
PDF: 9 pages
Proc. SPIE 3692, Acquisition, Tracking, and Pointing XIII, (15 July 1999); doi: 10.1117/12.352875
Show Author Affiliations
Robert H. Enders, MITRE Corp. (United States)

Published in SPIE Proceedings Vol. 3692:
Acquisition, Tracking, and Pointing XIII
Michael K. Masten; Larry A. Stockum, Editor(s)

© SPIE. Terms of Use
Back to Top