A Gaussian process based method for multiple model tracking

Mengwei Sun, Mike E. Davies, Ian Proudler, James R. Hopgood

Research output: Chapter in Book/Report/Conference proceedingConference contribution book

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Abstract

Manoeuvring target tracking faces the challenge caused by the target motion model uncertainty, i.e., unknown model types or uncertain model parameters. Multiple-model (MM) methods have been generally considered to deal with this challenge, in which a bank of elemental filters is run simultaneously to provide a joint decision and estimation of motion model and localisation. However, if the uncertainty of the target trajectory increases, such as the target moves under mixed manoeuvring behaviours with time-varying parameters, more filters with different model assumptions have to be taken into account to match the motion of the target, which may lead to prohibitive computational complexity. To address this problem, we establish a training based algorithm which can learn the actual motion model as a Gaussian process (GP) regression. Then, by integrating the trained GP into the particle filter (PF), a GP-PF based tracking method is developed to track the manoeuvring targets in real-Time. Monte Carlo experiments show that the proposed method had much lower tracking root mean square error (RMSE) and robustness compared with the most commonly used MM methods.

Original languageEnglish
Title of host publication2020 Sensor Signal Processing for Defence Conference, SSPD 2020
Place of PublicationPiscataway, NJ.
PublisherIEEE
ISBN (Electronic)9781728138107
DOIs
Publication statusPublished - 15 Sep 2020
Event9th Sensor Signal Processing for Defence Conference, SSPD 2020 - Edinburgh, United Kingdom
Duration: 15 Sep 202016 Sep 2020

Publication series

Name2020 Sensor Signal Processing for Defence Conference, SSPD 2020

Conference

Conference9th Sensor Signal Processing for Defence Conference, SSPD 2020
Country/TerritoryUnited Kingdom
CityEdinburgh
Period15/09/2016/09/20

Keywords

  • Gaussian process
  • manoeuvring target tracking
  • mixing manoeuvres
  • particle filtering

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