Abstract:

The passive tracking algorithm of a target in the presence of clutter (false detections) is studied. The feasibility of modified gain extended Kalman filter (MGEKF) using angleonly measurements is explored for clutter environment, and a new method is proposed. The bearing measurements are selected through validation region, and the association probabilities of the bearing measurements in the validation region are calculated, which includes the probability of the event that all measurements are false, and the probability of the event that the i th measurement is due to the target. The validated measurements are associated probabilistically to the target. The target state estimate at each sampling time is obtained by the proposed method. The simulation results reveal the feasibility and validity of the algorithm.