Particle Filtering with Propagation Delayed Measurements

Orguner U., Gustafsson F.

IEEE/AIAA Aerospace Conference, Montana, Amerika Birleşik Devletleri, 6 - 13 Mart 2010 identifier identifier

  • Yayın Türü: Bildiri / Tam Metin Bildiri
  • Doi Numarası: 10.1109/aero.2010.5446679
  • Basıldığı Şehir: Montana
  • Basıldığı Ülke: Amerika Birleşik Devletleri
  • Orta Doğu Teknik Üniversitesi Adresli: Hayır

Özet

This paper investigates the problem of propagation delayed measurements in a particle filtering scenario. Based on implicit constraints specified by target dynamics and physics rules of signal propagation, authors apply the ideas that were first proposed in their previous work to the case of particle filters. Unlike the deterministic sampling based approach called propagation delayed measurement filter (PDMF) in their previous work, the new algorithm proposed here (called as PDM particle filter (PDM-PF)) has the potential to be used with general nonlinear models. This advantage and the estimation results of PDM-PF are illustrated in a challenging target tracking scenario by making comparisons to PDMF along with some other alternative particle filters.