Ellipsoidal Set Filter Combined Set-Membership and Stochastic Uncertainties Used in Bearing-only Maneuvering Target Tracking

Y. Liu and Y. Zhao

Abstract: State estimation of a maneuvering target by bearing-only observations which suffer from set-membership and statistics uncertainties, an ellipsoidal set based filter is proposed in this paper. The influence of two uncertainties is expressed in terms of a set of probability distributions with an ellipsoidal set of means and a covariance matrix. We choose the generalization radius of ellipsoid as the optimality criterion to obtaining “tightly” outer bounding ellipsoids. Under the generalization radius of ellipsoid minimization criterion, the void condition about intersection of the ellipsoids, which are usually occur in maneuvering target tracking, does not affect the measurement updating. Through simulations of two-state maneuvering tracking problem with bearing-only maneuvering target tracking using two static platforms, proposed estimator has been compared with the extend set-membership filer and the extend Kalman filter. Results illustrate the effectiveness of the ellipsoidal set based filter.
Published in: Proceedings of IEEE/ION PLANS 2014
May 5 - 8, 2014
Hyatt Regency Hotel
Monterey, CA
Pages: 753 - 759
Cite this article: Liu, Y., Zhao, Y., "Ellipsoidal Set Filter Combined Set-Membership and Stochastic Uncertainties Used in Bearing-only Maneuvering Target Tracking," Proceedings of IEEE/ION PLANS 2014, Monterey, CA, May 2014, pp. 753-759.
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