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Auflistung nach Autor:in "Berger, Christian R."

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  • Konferenzbeitrag
    Track initialization from incomplete measurements
    (INFORMATIK 2006 – Informatik für Menschen, Band 1, 2006) Daun, Martina; Berger, Christian R.; Koch, Wolfgang
    Target tracking from incomplete measurements using Extended Kalman filtering suffers from unstable behavior due to difficult initialization. Instead of using numerical batch-estimators, we offer an analytical approach to initialize the filter from a minimum number of observations. Additionally, we provide the possibility to estimate only sub-sets of parameters, and to reliably model resulting added uncertainties by the covariance matrix. In a practical example with 3D bearings-only measurements, we implement our approach using geometrical considerations and give numerical results. The Monte-Carlo simulations show that the estimation accuracy is close to the Cramer-Rao lower bound and that the initialization is consistent according to the chi-square 95% acceptance region within a 40km by 40km area, which is four times the distance between the two sensors.