Target tracking with bounded disturbances and subject to physical constraints
R.A. Best · 1995
This contribution describes work in two separate projects which started in late 1993. The ultimate aim of the first is a target tracking and missile guidance scheme taking into account constraints on tracker and target capability. So far, tracking has received most attention. As far as possible. it has employed conventional state estimation (Kalman filtering). A number of refinements of published trackers have been developed, but we concentrate on incorporation of bounds on target capability into tracking. The second project, supported by the EPSRC, is a broader investigation of state bounding techniques. Although state bounding originated in the 1960's, it still has many unresolved practical issues. These issues show up well in target tracking, which is being used as an application example. Bounds on target position and velocity are updated with the target returns, given bounds on target acceleration and/or velocity and on observation errors. The paper discusses algorithms to update ellipsoidal state bounds and presents a deterministic (bound-based) version of multiple-hypothesis data association for multiple target tracking. (10 pages)