Target Tracking with Regularized Variable Rate Particle Filters

Uelker Y., Guensel B.

IEEE 16th Signal Processing and Communications Applications Conference, Aydın, Türkiye, 20 - 22 Nisan 2008, ss.693-696 identifier

  • Yayın Türü: Bildiri / Tam Metin Bildiri
  • Basıldığı Şehir: Aydın
  • Basıldığı Ülke: Türkiye
  • Sayfa Sayıları: ss.693-696
  • İstanbul Teknik Üniversitesi Adresli: Evet

Özet

Recently introduced variable rate particle filters (VRPF), utilizing semi-Markov models for maneuvering target tracking obtained superior performance compared to the standard Markov models [1]. However, degeneracy problem commonly encountered in particle filtering also arises in VRPF algorithm. In this work, regularization technique used in standard particle filtering [2] is integrated to VRPF modelling and regularized variable rate particle filters (R-VRPF) are introduced as a solution to degeneracy problem. Performance of proposed R-VRPF algorithm is investigated in a bearing only target tracking problem and it is shown that RMS position error is reduced due to the better approximation to the posterior distribution representing target position.