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Received: 2007-03-26

Revision Accepted: 2007-04-28

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Journal of Zhejiang University SCIENCE A 2007 Vol.8 No.10 P.1588~1595

http://doi.org/10.1631/jzus.2007.A1588


An unscented particle filter for ground maneuvering target tracking


Author(s):  GUO Rong-hua, QIN Zheng

Affiliation(s):  Department of Computer Science and Technology, Tsinghua University, Beijing 100084, China

Corresponding email(s):   grh05@mails.tsinghua.edu.cn

Key Words:  Interacting multiple model (IMM), Unscented particle filter (UPF), Ground target tracking, Particle filter (PF)


GUO Rong-hua, QIN Zheng. An unscented particle filter for ground maneuvering target tracking[J]. Journal of Zhejiang University Science A, 2007, 8(10): 1588~1595.

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Abstract: 
In this study, an unscented particle filtering method based on an interacting multiple model (IMM) frame for a Markovian switching system is presented. The method integrates the multiple model (MM) filter with an unscented particle filter (UPF) by an interaction step at the beginning. The framework (interaction/mixing, filtering, and combination) is similar to that in a standard IMM filter, but an UPF is adopted in each model. Therefore, the filtering performance and degeneracy phenomenon of particles are improved. The filtering method addresses nonlinear and/or non-Gaussian tracking problems. Simulation results show that the method has better tracking performance compared with the standard IMM-type filter and IMM particle filter.

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