An algorithm for multitarget tracking with multiple asynchronous bearings-only sensors

An algorithm is developed for tracking multiple targets using distributed bearings-only sensors. It is assumed that the sensors report the measurements asynchronously and the processing is done centrally. The proposed algorithm first forms bearings-only (mono) tracks for each sensor and then combines them to form Cartesian position (stereo) tracks. The stereo tracks are initialized using a multidimensional assignment technique. Once the stereo tracks are initialized the mono tracks contributed to the stereo tracks are deleted and the stereo tracks are updated directly using the measurements from the sensors. As shown later in this paper the proposed algorithm is computationally simple and can provide better tracking performance compared to an existing algorithm. Simulations carried out to track multiple targets confirm the effectiveness of the proposed algorithm.

[1]  Abhijit Sinha,et al.  Computationally efficient assignment-based algorithms for data association for tracking with angle-only sensors , 2007, SPIE Optical Engineering + Applications.

[2]  Don Torrieri,et al.  Statistical Theory of Passive Location Systems , 1984, IEEE Transactions on Aerospace and Electronic Systems.

[3]  Mark R. Morelande,et al.  Multiple target tracking with asynchronous bearings-only-measurements , 2007, 2007 10th International Conference on Information Fusion.

[4]  Samuel S. Blackman,et al.  Design and Analysis of Modern Tracking Systems , 1999 .

[5]  Yoshio Kosuge,et al.  Tracking a three-dimensional moving target with two-dimensional angular measurements from multiple passive sensors , 1999, SICE '99. Proceedings of the 38th SICE Annual Conference. International Session Papers (IEEE Cat. No.99TH8456).

[6]  D. Musicki,et al.  Multi-target tracking using multiple passive bearings-only asynchronous sensors , 2008, IEEE Transactions on Aerospace and Electronic Systems.

[7]  D. Bertsekas.  The auction algorithm: A distributed relaxation method for the assignment problem , 1988 .

[8]  T. R. Kronhamn,et al.  Bearings-only target motion analysis based on a multihypothesis Kalman filter and adaptive ownship motion control , 1998 .

[9]  Jeffrey K. Uhlmann,et al.  Unscented filtering and nonlinear estimation , 2004, Proceedings of the IEEE.

[10]  Y. Bar-Shalom,et al.  A generalized S-D assignment algorithm for multisensor-multitarget state estimation , 1997, IEEE Transactions on Aerospace and Electronic Systems.

[11]  Taek Lyul Song,et al.  Observability of target tracking with bearings-only measurements , 1996 .

[12]  Thiagalingam Kirubarajan,et al.  Estimation with Applications to Tracking and Navigation , 2001 .

[13]  N. Peach,et al.  Bearings-only tracking using a set of range-parameterised extended Kalman filters , 1995 .

[14]  V. Aidala,et al.  Utilization of modified polar coordinates for bearings-only tracking , 1983 .