Tracking ground vehicles on a grid
Dave D. Sworder, John E. Boyd · Proceedings of SPIE, the International Society for Optical Engineering/Proceedings of SPIE · 2004
Hybrid models have proven useful for tracking targets with multiple motion modes. Most emphasis in the literature has been devoted to aircraft which transition from constant velocity motion to constant (or nearly constant) turns and back. Ground targets motions have received less attention despite similarities with aircraft. This paper presents a study of the ground-tracking problem using the Gaussian wavelet estimator as the basic algorithm. The sensor suite contains a matrix of range-bearing sensors of quality that is strongly range dependent. There also may be an acoustic sensor which provides an auxiliary speed measurement. It is shown that the high degree of partitioning of the kinematic state space provided by the algorithm is useful in this application.