Fusing Bearing-Only Measurements with and Without Propagation Delays Using Particle Trajectories
Paul R. Horridge, Simon R. Maskell · 2018
Ahstract-This paper considers the problem of tracking a manoeuvring target when some of the measurements are delayed by the time taken to propagate through some medium. We are especially interested in bearing-only measurements, since it is possible to extract range information by fusing measurements which have negligible propagation delay (such as from electrooptical sensors) and measurements which have a propagation delay proportional to the range to the target (such as from acoustic sensors). This requires us to handle measurements which appear out of sequence, and with emission times unknown to the tracker. Unlike previous approaches, a particle filter is used, which handles out-of-sequence measurements by storing a history of hypothesised target states and measurement emission times for each particle. This allows new target states and times to be inserted into the trajectory of each target by interpolating between adjacent states in the history.