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13 July 2000 Update with out-of-sequence measurements in tracking: exact solution
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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.
© (2000) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Yaakov Bar-Shalom "Update with out-of-sequence measurements in tracking: exact solution", Proc. SPIE 4048, Signal and Data Processing of Small Targets 2000, (13 July 2000); https://doi.org/10.1117/12.392006
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