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16 August 2001 Passive tracking scheme for a single stationary observer
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While there are many techniques for Bearings-Only Tracking (BOT) in the ocean environment, they do not apply directly to the land situation. Generally, for tactical reasons, the land observer platform is stationary; but, it has two sensors, visual and infrared, for measuring bearings and a laser range finder (LRF) for measuring range. There is a requirement to develop a new BOT data fusion scheme that fuses the two sets of bearing readings, and together with a single LRF measurement, produces a unique track. This paper first develops a parameterized solution for the target speeds, prior to the occurrence of the LRF measurement, when the problem is unobservable. At, and after, the LRF measurement, a BOT formulated as a least squares (LS) estimator then produces a unique LS estimate of the target states. Bearing readings from the other sensor serve as instrumental variables in a data fusion setting to eliminate the bias in the BOT estimator. The result is recursive, unbiased and decentralized data fusion scheme. Results from two simulation experiments have corroborated the theoretical development and show that the scheme is optimal.
© (2001) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Y. T. Chan and Terry Rea "Passive tracking scheme for a single stationary observer", Proc. SPIE 4380, Signal Processing, Sensor Fusion, and Target Recognition X, (16 August 2001);


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