Distributed multi-sensor particle filter for bearings-only tracking

Jungen Zhang, Hongbing Ji
2012 International journal of electronics (Print)  
Aiming at bearings-only multi-target tracking, a new multi-sensor particle CPHD filtering algorithm is proposed, which analyses the structure information of mixed linear/nonlinear state space models and combines particle filter and Kalman filter to predict and estimate the states of multiple targets to enhance the estimating performance of the PHD and cardinality distribution. The target state estimates are extracted by utilizing the kernel density estimation theory and mean-shift method.
more » ... shift method. Simulation results are presented to demonstrate the improved performance of the proposed filtering algorithm. , , 1, , o m k k z m M   is the set of target bearings generated by sensor o at time k which contains k C clutters,
doi:10.1080/00207217.2011.623276 fatcat:cdaia64ubvhxrbvmb6h72zivli