Ground surveillance is getting more and more important, since several applications exist, like civil applications, airport ground control and military surveillance applications. In difference to air target tracking, ground targets move on the earth surface and more clutter exists. In order to reduce ground clutter, MTI sensors like GMTI are widely used. In addition, targets may be hidden by topography structures, e.g. trees and hills. Beside this, ground targets are often densely spaced (e.g. convoys) and infrastructural constraints may exist, like roads for example. Most of the vehicles move on roads and therefore it is a good choice to incorporate road maps into the tracking process. There exist several filtering approaches in ground target tracking with road maps. Particle filters seem to he a good choice for this kind of application, since road map supported tracking leads to non-linear filter models. In addition, velocity constraints can be applied easily. Disadvantage is the large computation time, which makes them demanding for real time applications. Alternatively, Kalman filter based approaches are widely discussed in literature. Most of them deal with long straight roads only and use a Variable Structure Interacting Multiple Model (VS-IMM) approach to support crossings. The work presented in this paper employs a Kalman filter based approach, which uses a one-dimensional on-road model. Since the update is done in the three-dimensional measurement space, equality constraints are applied to project the updated state back to the one-dimensional on-road state. This paper presents a tracking algorithm, which considers the road information and is based on a Kalman filter approach. Beside crossings, narrow curves are also supported.
Ground target tracking with road map support
Zielverfolgung bodengebundener Hindernisse mit Hilfe der Unterstützung von Straßenkarten
Informatik trifft Logistik, INFORMATIK, Jahrestagung der Gesellschaft für Informatik e.V., 37 ; 120-124
2007
5 Seiten, 4 Bilder, 10 Quellen
Conference paper
English
Road-map assisted ground moving target tracking
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