Target tracking
First Claim
1. A method of tracking a plurality of targets, the method comprising:
- for a first time-step, estimating a state of each target;
at a second time-step;
measuring values for a state of a target; and
measuring and updating a value of an identity parameter for the target, wherein the identity parameter at least partially distinguishes the target from one or more of the other targets;
for the second time-step, estimating a state of each target using the estimated target states for the first time-step;
updating the estimated target states for the second time-step using the measured values for the states of the targets; and
performing an identity management process to estimate a probability that a particular state measurement corresponds to a particular target, wherein the identity management process comprises;
providing a mixing matrix, an element of the mixing matrix being based on an overlap between the updated estimated target states of targets in an underlying state space of the estimated target states; and
wherein the providing of the mixing matrix comprises determining a value for an element of the missing matrix as a function of the state of the particular target at the second time-step, and a set of all state values and identity parameter values measured at time steps up to and including the second time-step.
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Abstract
An apparatus and a method are disclosed for tracking a plurality of targets (e.g. land-based vehicles) The method can include: for a first time-step, estimating a state of each target; at a second time-step, measuring values for a state of a target; for the second time-step, estimating a state of each target using the estimated target states for the first time-step; updating the estimated target states for the second time-step using the measured values; and performing an identity management process to estimate a probability that a particular state measurement corresponds to a particular target by providing a mixing matrix, wherein an element of the mixing matrix is based on an overlap between the updated estimated target states of targets in an underlying state space of the estimated target states.
29 Citations
20 Claims
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1. A method of tracking a plurality of targets, the method comprising:
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for a first time-step, estimating a state of each target; at a second time-step; measuring values for a state of a target; and measuring and updating a value of an identity parameter for the target, wherein the identity parameter at least partially distinguishes the target from one or more of the other targets; for the second time-step, estimating a state of each target using the estimated target states for the first time-step; updating the estimated target states for the second time-step using the measured values for the states of the targets; and performing an identity management process to estimate a probability that a particular state measurement corresponds to a particular target, wherein the identity management process comprises;
providing a mixing matrix, an element of the mixing matrix being based on an overlap between the updated estimated target states of targets in an underlying state space of the estimated target states; andwherein the providing of the mixing matrix comprises determining a value for an element of the missing matrix as a function of the state of the particular target at the second time-step, and a set of all state values and identity parameter values measured at time steps up to and including the second time-step. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. Apparatus for tracking a plurality of targets, the apparatus comprising:
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one or more processors arranged for a first time-step, to estimate a state of each target; and one or more sensors arranged, at a second time-step, to; measure values for a state of a target; and measure and update a value of an identity parameter for the target, wherein the identity parameter at least partially distinguishes the target from one or more of the other targets; wherein the one or more processors are configured; for the second time-step, to estimate a state of each target using the estimated target states for the first time-step; to update the estimated target states for the second time-step using the measured values for the states of the targets; and to perform an identity management process to estimate a probability that a particular state measurement corresponds to a particular target;
wherein the identity management process includes providing a mixing matrix, an element of the mixing matrix being based on an overlap between the updated estimated target states of targets in an underlying state space of the estimated target states; andwherein the providing of the mixing matrix comprises determining a value for an element of the mixing matrix as a function of the state of the particular target at the second time-step, and a set of all state values and identity parameter values measured at time steps up to and including the second time-step. - View Dependent Claims (13)
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14. A non-transitory computer program product encoded with instructions that, when executed by one or more processors, causes a process to be carried out, the process comprising:
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for a first time-step, estimating a state of each target; at a second time-step; measuring values for a state of a target; and measuring and updating a value of an identity parameter for the target, wherein the identity parameter at least partially distinguishes the target from one or more of the other targets; for the second time-step, estimating a state of each target using the estimated target states for the first time-step; updating the estimated target states for the second time-step using the measured values for the states of the targets; and performing an identity management process to estimate a probability that a particular state measurement corresponds to a particular target, wherein the identity management process comprises;
providing a mixing matrix, an element of the mixing matrix being based on an overlap between the updated estimated target states of targets in an underlying state space of the estimated target states; andwherein the providing of the mixing matrix comprises determining a value for an element of the mixing matrix as a function of the state of the particular target at the second time-step, and a set of all state values and identity parameter values measured at time steps up to and including the second time-step. - View Dependent Claims (15, 16, 17, 18, 19, 20)
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Specification