Track initialization from incomplete measurements
| dc.contributor.author | Daun, Martina | |
| dc.contributor.author | Berger, Christian R. | |
| dc.contributor.author | Koch, Wolfgang | |
| dc.contributor.editor | Hochberger, Christian | |
| dc.contributor.editor | Liskowsky, Rüdiger | |
| dc.date.accessioned | 2019-06-12T12:32:21Z | |
| dc.date.available | 2019-06-12T12:32:21Z | |
| dc.date.issued | 2006 | |
| dc.description.abstract | 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. | en |
| dc.identifier.isbn | 978-3-88579-187-4 | |
| dc.identifier.pissn | 1617-5468 | |
| dc.identifier.uri | https://dl.gi.de/handle/20.500.12116/23696 | |
| dc.language.iso | en | |
| dc.publisher | Gesellschaft für Informatik e.V. | |
| dc.relation.ispartof | INFORMATIK 2006 – Informatik für Menschen, Band 1 | |
| dc.relation.ispartofseries | Lecture Notes in Informatics (LNI) - Proceedings, Volume P-93 | |
| dc.title | Track initialization from incomplete measurements | en |
| dc.type | Text/Conference Paper | |
| gi.citation.endPage | 338 | |
| gi.citation.publisherPlace | Bonn | |
| gi.citation.startPage | 334 | |
| gi.conference.date | 2.-6. Oktober 2006 | |
| gi.conference.location | Dresden | |
| gi.conference.sessiontitle | Regular Research Papers |
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