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Proceedings Paper

Update with out-of-sequence measurements in tracking: exact solution
Author(s): Yaakov Bar-Shalom
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Paper Abstract

In target tracking systems measurements are typically collected in scans or frames and then they are transmitted to a processing center. In multisensor tracking systems that operate in a centralized manner there are usually different time delays in transmitting the scans or frames from the various sensors to the center. This can lead to situations where measurements from the same target arrive out of sequence. Such out-of-sequence measurement (OOSM) arrivals can occur even in the absence of scan/frame communication time delays. The resulting negative- time measurement update problem, which is quite common in real multisensor systems, was solved approximately in [2] by neglecting the process nosie in the backward prediction or retrodiction. In the standard case, the (forward) state prediction can be easily carried out, since the process noise, because of its whiteness, is independent of the current state. However, in retrodiction this independence does not hold anymore. The standard smoothing algorithms cannot be used because the time stamp of the measurement is, in general, arbitrary. The results of [4,3] accounted only partially for the process noise. In view of this, the exact state update equation for such a problem is presented. The three algorithms are compared on a number of realistic examples, including a GMTI (ground moving target indicator) radar case.

Paper Details

Date Published: 13 July 2000
PDF: 16 pages
Proc. SPIE 4048, Signal and Data Processing of Small Targets 2000, (13 July 2000); doi: 10.1117/12.392006
Show Author Affiliations
Yaakov Bar-Shalom, Univ. of Connecticut (United States)

Published in SPIE Proceedings Vol. 4048:
Signal and Data Processing of Small Targets 2000
Oliver E. Drummond, Editor(s)

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