A Rao-Blackwellized particle filter is developed for single target turn rate estimation from noisy position measurements. Missing measurements and false alarms are handled via incorporation of Probabilistic Data Association (PDA) in the particle filter. The performance of the proposed filter is compared to an Extended Kalman Filter (EKF) through Monte Carlo simulations. When assuming perfect data association, it is found that the proposed filter is comparable to the EKF in terms of RMS errors but that it outperforms the EKF in terms of covariance consistency. Simulations including missing measurements and false alarms show that the proposed filter clearly outperforms the EKF with respect to RMSE and track divergence.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Rao-blackwellized particle filter for turn rate estimation


    Beteiligte:


    Erscheinungsdatum :

    2017-03-01


    Format / Umfang :

    444145 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    A Rao-Blackwellized Particle Filter for EigenTracking

    Khan, Z. / Balch, T. / Dellaert, F. et al. | British Library Conference Proceedings | 2004


    A Rao-Blackwellized particle filter for EigenTracking

    Zia Khan, / Balch, T. / Dellaert, F. | IEEE | 2004


    Geomagnetic Aided Navigation Using Rao Blackwellized Particle Filter

    Cuenca, Andrei / Moncayo, Hever | TIBKAT | 2023


    Geomagnetic Aided Navigation Using Rao Blackwellized Particle Filter

    Cuenca, Andrei / Moncayo, Hever | TIBKAT | 2023