VS-IMM using road map information for a ground target tracking

Tracking a ground target, based on GMTI radar measurements, is a challenging problem. This is due particularly to the environment with a high density road traffic, terrain masks... etc, and to the high manoeuverability of ground targets. In this paper, the tracking of a manoeuvring ground target on a road in a cluttered environment is studied using map information to enhance the tracking quality. Based on road segments positions, dynamic models under road constraints are built and an optimized projection technique of the estimated state is proposed in order to keep the target position and heading on the road. Using this projection approach, a multiple model tracking algorithm is derived and its performances are studied. The derived filter is an IMM (interacting multiple model) filter with a variable structure (VS-IMM) where the models set adapts sequentially according to the target position and to the road network configuration.

[1]  Y. Bar-Shalom,et al.  The interacting multiple model algorithm for systems with Markovian switching coefficients , 1988 .

[2]  Yaakov Bar-Shalom,et al.  Multitarget/Multisensor Tracking: Applications and Advances -- Volume III , 2000 .

[3]  Peter J. Shea,et al.  Improved state estimation through use of roads in ground tracking , 2000, SPIE Defense + Commercial Sensing.

[4]  Y. Bar-Shalom,et al.  The interacting multiple model algorithm for systems with Markovian switching coefficientsY. Bar-Shalom , 1988 .

[5]  S. Coraluppi,et al.  Advances in asynchronous and decentralized estimation , 2001, 2001 IEEE Aerospace Conference Proceedings (Cat. No.01TH8542).

[6]  Y. Bar-Shalom,et al.  Tracking evasive move-stop-move targets with a GMTI radar using a VS-IMM estimator , 2003 .

[7]  Chee-Yee Chong.  Graphical Models for Nonlinear Distributed Estimation , 2004 .

[8]  Maan El Badaoui El Najjar.  Localisation dynamique d'un véhicule sur une carte routière numérique pour l'assistance à la conduite , 2003 .

[9]  Benjamin Pannetier,et al.  Ground moving target tracking with road constraint , 2004, SPIE Defense + Commercial Sensing.

[10]  Stefano Coraluppi,et al.  Multiple-Hypothesis IMM ( MH-IMM ) Filter for Moving and Stationary Targets , 2001 .

[11]  Krishna R. Pattipati,et al.  Ground target tracking with variable structure IMM estimator , 2000, IEEE Trans. Aerosp. Electron. Syst..

[12]  D. Simon,et al.  Kalman filtering with state equality constraints , 2002 .

[13]  Yakov Bar-Shalom,et al.  Multitarget-Multisensor Tracking: Principles and Techniques , 1995 .

[14]  Brian J. Noe,et al.  Variable structure interacting multiple-model filter (VS-IMM) for tracking targets with transportation network constraints , 2000, SPIE Defense + Commercial Sensing.