One-step solution for the general out-of-sequence-measurement problem in tracking
- 25 June 2003
- proceedings article
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 4, 4-1551
- https://doi.org/10.1109/aero.2002.1036872
Abstract
In multisensor target tracking systems measurements from the same target can 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 problem — how to update the current state estimate with an "older" measurement — is a nonstandard es- timation problem. It was solved first (suboptimally, then optimally) for the case where the OOSM lag is less than a sampling interval — the 1-step-lag case. Subsequently, the suboptimal algorithm was extended to the case of an arbitrary (multistep) lag, but the resulting algorithm required a significant amount of storage. The present work shows how the 1-step-lag algorithms can be used for the general multistep lag case, with the benefit of significantly lower storage re- quirements and a very small (1%) degradation of MSE performance. The incorporation of an OOSM into the data association process and its use in an IMM esti- mator are also discussed. A realistic example with two GMTI radars is presented.Keywords
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