Abstract:

The classical symmetric measurement equation (SME) approach will produce pseudo-measurements while tracking multiple targets in multi-dimensions, which induces large tracking errors around the coordinate switching areas. To solve this problem, a modified SME is proposed by polynomial factoring to connect states of one target with different coordinates. As a result, the mapping relationships of original observations to new mesurements are described more precisely. The new measurement noise covariance matrix is deduced corresponding to the new SME measure noises which are derived by Taylor series expansions. Finally, simulations are constructed to validate the new SME’s characteristics by comparing with the existing SME approaches and joint probability data association algorithm respectively. Results show that the modified SME approach not only maintains the advantage of real-time performances, but also does well in improving tracking accuracy during the coordinate switching areas.