×

Interacting multiple bias model filter system for tracking maneuvering targets

  • US 5,325,098 A
  • Filed: 06/01/1993
  • Issued: 06/28/1994
  • Est. Priority Date: 06/01/1993
  • Status: Expired due to Fees
First Claim
Patent Images

1. A filtering system used in tracking of a maneuvering target comprising:

  • a target tracking sensor providing target position measurements;

    first filter means for determining a partial system state estimate at a time K in terms of said measurements;

    means for generating an error difference at time K between said partial system state estimate and said measurements;

    bias filter means provided with prior acceleration model hypotheses from a time (K-1) free of position and velocity constraints and said error difference for generating acceleration estimates at time K and likelihoods at time K that said prior model hypotheses are correct;

    updating means summing said likelihoods from said bias filter means for generating a probability vector at time K defining probability associated with each said prior acceleration model hypothesis;

    interaction mixing filter means for generating each said prior acceleration model hypothesis using said probability vector from prior time (K-1) and said acceleration estimates from said prior time (K-1) as a probabilistic sum of said acceleration estimates from prior time (K-1) multiplied by said probability vector from prior time (K-1), means associated with said interaction mixing filter means for supply of an error covariance to said first filter means to reflect therein an uncertainty with respect to each said prior acceleration model hypothesis;

    bias estimator means for generating a probabilistic acceleration estimate from each of said acceleration estimates and said probability vector at time K as a sum of each of said acceleration estimates associated with each of said prior acceleration model hypotheses multiplied by a corresponding probability from said probability vector; and

    means summing said partial system state estimate and said probabilistic acceleration estimate for generating a complete system state estimate at time K defining position, velocity and acceleration of said maneuvering target.

View all claims
  • 1 Assignment
Timeline View
Assignment View
    ×
    ×