The development of a general framework for the systematic management multiple sensors in target tracking presence clutter is described. basis technique to quantify, and subsequently control, accuracy state estimation. posterior Cramer-Rao lower bound (PCRLB) provides means achieving this aim by enabling us determine on performance all unbiased estimators unknown state. approach then use optimization techniques control measurement process order achieve accurate We are concerned primarily with...

We consider the problem of calculating posterior Cramer-Rao lower bound (PCRLB) for tracking in cluttered domains which there can be both missed detections and false alarms. present a novel formulation PCRLB we initially determine conditional on sequence measurements available. then create an unconditional as weighted average these PCRLBs. This new is proven to less optimistic than standard environments recently developed (Zhang Willett, 2001 Hernandez et al., 2002) will therefore better...

In this paper we consider the general problem of managing an array sensors in order to track multiple targets presence clutter. There are three complicating factors. The first is that because physical limitations (e.g., communication bandwidth) only a small subset available can be utilized at any one time. second complication associations measurements targets/clutter unknown. third total number surveillance region unknown and possibly time varying. It these factors extend previous work [...

In this paper, we are concerned with the problem of utilizing a large network sensors in order to track multiple targets. Large-scale sensor array management has applications number target tracking domains. For example, ground tracking, hundreds or even thousands unattended may be dropped over surveillance area. At any one time, it then only possible utilize very small available at fusion center because physical limitations, such as communications bandwidth. A similar situation arise...

The paper presents a comparative study of two recently reported Crame/spl acute/r-Rao lower bounds (CRLBs) for nonlinear filtering, both applicable when the probability detection is less than unity. first bound information reduction factor CRLB; second enumeration method CRLB. accurate but computationally expensive. We prove in that overoptimistic, being always theory illustrated by target tracking applications: ballistic object and bearings-only tracking. simulations studies confirm reveal...

This paper considers the theoretical posterior Cramer-Rao lower bound (PCRLB) for case of tracking a manoeuvring target with Markovian switching dynamics. In recent article [2] it was proposed to calculate PCRLB conditional on manoeuvre sequence and then determine as weighted average, giving an unconditional PCRLB. However, we demonstrate that this approach can produce overly optimistic bound, because manoeuvres is implicitly assumed known. Motivated by this, develop general derive...

We are concerned with the problem of tracking a single target using multiple sensors. At each stage measurement number is uncertain and measurements can either be generated or false alarms. The Cramer-Rao bound gives lower on performance any unbiased estimator state. In this paper we build earlier research calculating Posterior bounds for linear filtering origin uncertainty. derive multi-sensor, non-linear problem. show that under certain assumptions uncertainty again expresses itself as...

Recently, a general framework for sensor resource deployment (Hernandez, et. al. 2004) has been shown to allow efficient and effective utilization of multisensor system. The basis this technique is use the posterior Cramer-Rao lower bound (PCRLB) quantify control optimal achievable accuracy target state estimation. In original formulation it was assumed that locations were known without error. current paper, authors extend by addressing issues imperfect placement uncertain movement (e.g.,...

This article considers the general problem of tracking a noncooperative target in presence specular multipath. We revisit novel posterior Cramér-Rao bound (PCRB) methodology for this [1] and develop robust interacting multiple model (IMM) extended Kalman filter (EKF) implementation. Both PCRB IMM-EKF augment state to include multipath parameters. The approaches are demonstrated via simulated scenario, which an airborne radar tracks low-altitude target. It is shown that increases rapidly...

We consider the problem of tracking ground-based vehicles with moving target indicator (MTI) sensors. MTI sensors can only detect a if magnitude range-rate exceeds minimum detectable velocity, and as result targets typically exhibit evasive move-stop-move (MSM) behavior in order to avoid detection. Further complexity is added by fact that environment cluttered, resulting both missed detections spurious false measurements. A key then distinguish between detection lack due stopping (or at low...

The tracking and state estimation community is broad, with diverse interests. These range from algorithmic research development, applications to solve specific problems, systems integration. Yet until recently, in contrast similar communities, few tools for common development testing were widespread. This was the motivation of Stone Soup - open source framework. goal conceive solution any problem as a machine. machine built components varying degrees sophistication particular purpose....

The derivation and computation of the theoretical Cramér–Rao lower bounds for multiple target tracking has traditionally been considered to be a notoriously difficult problem. authors present simple exact solution based on assumption that raw sensor data (before thresholding) are available. multi-target problem can then formulated as recursive Bayesian track-before-detect estimation. advantage this formulation is it identical nonlinear filtering, which posterior bound already known. paper...

In this paper, we consider the problem of calculating posterior Cramér–Rao lower bound (PCRLB) for tracking in cluttered domains which there can be both missed detections and false alarms. We introduce a novel approach, whereby condition on 'existence sequence', is sequence zeros ones depending whether at least one measurement exists each sampling time. An existing Riccati-like recursion then provides PCRLB conditional existence sequence, an unconditional calculated as weighted average these...

This paper presents an analysis on sensor management using a cost function based multi-target metric, in particular, the optimal subpattern-assignment (OSPA) unnormalised OSPA (UOSPA) metric and generalised (GOSPA) (α = 2). We consider problem of managing array sensors, where each is able to observe region surveillance area, not covered by other with given sensing cost. look at case which there are far-away, independent potential targets, maximum one per region. In this set-up, action GOSPA...

In this papel; we examine the Posterior Crame'r-Rao Lower Bound (PCRLB) for bearings-only tracking. We use a minimum detection range, inside which target cannot be detected and show that PCRLB tends to zero as range zero. Hence, in absence of is uninfomtive identijes only perfor- mance filter can no better than perfect. It also feature tracking closed-form solu- tion exists PCRLB, numerical approximation necessary via Monte Carlo integration. number sample points infinity. Howevel;...

The paper presents an analysis of the phased array radar allocation demands, when tracking highly maneuverable anti-ship missiles (ASM) using a collocated radar/IRST sensor combination. motion ASM is modeled quantized acceleration levels. principal aim this to determine upper bound on average update time. This follows from Cramer-Rao type error for estimation linear jump Markov dynamic systems. Given model ASM, IRST/radar characteristics and tolerable level target state error, we can...

Widemo and Owens presented a model that calculates the expected copulation rates of males on leks range sizes. They claim negative relationship between lek size male mating skew will result in low-ranking having greater optimal sizes than higher ranking rivals. offered no proof their claim, assumes rank does not change as increases, whereas reality, may more arrive. We present general allows to increases. show crucial determinant whether increases with is relative competitive differences...

Recent interest in the development of wireless sensor networks for surveillance introduces new problems that will need to be addressed when developing target tracking algorithms use such networks. Specifically power and stealth requirements combined with communications architecture lead potentially significant delays measurement collection process. The recent out-of-sequence posterior Cramer-Rao lower bounds origin uncertainty makes it possible investigate how robust these are a wide range...

In this paper, we consider the problem of calculating posterior Cramer-Rao lower bound (PCRLB) in case tracking a maneuvering target. recent article (A. Bessel, et al., 2003) authors calculated PCRLB conditional on maneuver sequence and then determined as weighted average, giving an unconditional (referred to herein Enumer-PCRLB). However, argue that approach can produce optimistic because maneuvers is implicitly assumed known. Indeed, simulations show target switch between nearly...

In this paper, a novel target acquisition and localisation algorithm (TALA) is introduced that offers capability for detecting localising multiple targets using the intermittent "signals-of-opportunity" (e.g. acoustic impulses or radio frequency transmissions) they generate. The TALA batch estimator addresses complex multi-sensor/multi-target data association problem in order to estimate locations of an unknown number targets. unique it does not require measurements be specific type, can...

This paper is concerned with the development of a general framework for management multiple sensors in tracking single target. To achieve this aim we draw on concepts from data fusion, particle filtering and heuristic optimization. Previous work gave multi-sensor fusion algorithm which provided rigid scheme under were placed to maximize probability detecting We present an adaptation sensor placements are chosen minimize measure uncertainty target position. demonstrate anti-submarine warfare...