Interacting multiple bias model filter system for tracking maneuvering targets
US5325098A · kind A · utility
Assignee
Inventors
Key dates
| Filing date | Jun 1, 1993 |
| Grant date | Jun 28, 1994 |
| Priority date | — |
| Expiry date | Jun 1, 2013 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG01S13/726
- WIPO fieldMeasurement
- WIPO sectorInstruments
Abstract
A filtering system used in the tracking of a maneuvering target is provid A first filter estimates a partial system state at a time k in terms of target position measurements. A plurality of second filters are each provided with an acceleration model hypothesis from a prior time (k-1) free of position and velocity constraints. Each second filter generates an acceleration estimate at time k and a likelihood at time k that the acceleration model hypothesis is correct. The likelihoods from the second filters are summed to generate a probability vector at time k. A third interaction mixing filter generates the acceleration model hypotheses from prior time (k-1) using the probability vector from prior time (k-1) and the acceleration estimates from prior time (k-1). The third filter also provides an error covariance to the first filter to reflect the uncertainty in the acceleration model hypotheses from prior time (k-1). A probabilistic acceleration estimate for time k is formed as a sum of each of the acceleration estimates associated with each of the acceleration model hypotheses multiplied by a corresponding probability from the probability vector. The partial system state estimate an…
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