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Update with out-of-sequence measurements in tracking: exact solution
Abstract
In target tracking systems measurements are typically collected in "scans" or "frames" and then they are transmitted to a processing center. In multisensor tracking systems that operate in a centralized manner, there are usually different time delays in transmitting the scans or frames from the various sensors to the center. This can lead to situations where measurements from the same target arrive out of sequence. Such "out-of-sequence" measurement (OOSM) arrivals can occur even in the absence of scan/frame communication time delays. The resulting "negative-time measurement update" problem, which is quite common in real multisensor systems, was solved previously only approximately in the literature. The exact state update equation for such a problem is presented. The optimal and two suboptimal algorithms are compared on a number of realistic examples, including a GMTI (ground moving target indicator) radar case.
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Cites
Estimation with Applications to Tracking and Navigation: Theory, Algorithms and Software
Bar‐Shalom, Y., Li, X. ‐., & Kirubarajan, T. (2002) · doi:10.1002/0471221279 · Cited by 6,782
Self-citation
Cited by
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Castanedo, F. (2013) · The Scientific World Journal · doi:10.1155/2013/704504 · Cited by 1,027
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Smith, D., & Singh, S. (2006) · IEEE Transactions on Knowledge and Data Engineering · doi:10.1109/tkde.2006.183 · Cited by 379
Multiple-Robot Simultaneous Localization and Mapping: A Review
Saeedi, S., Trentini, M., Seto, M., & Li, H. (2016) · Journal of Field Robotics · doi:10.1002/rob.21620 · Cited by 324
Williams, S., Indelman, V., Kaess, M., Roberts, R., Leonard, J. J., & Dellaert, F. (2014) · The International Journal of Robotics Research · doi:10.1177/0278364914531056 · Cited by 2
Metadata
- Authors
- Bar-Shalom, Y.
- Venue
- IEEE Transactions on Aerospace and Electronic Systems
- Published
- 2002-07
- Volume
- 38
- Issue
- 3
- Pages
- 769-777
- ISSN
- 0018-9251 (ISSN-L)
- OpenAlex
- W2132695119
- Cited by
- 354
- References
- 1
- FWCI
- 10.04
- Type
- journal article
- Language
- en
- Open access
- closed
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