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Particle Filter Based Tracking of Highly Agile Wireless Agents via Random Input Sampling

Authors:: Schlupkothen, S. , Ascheid, G.
Book Title:: 2018 6th IEEE International Conference on Wireless for Space and Extreme Environments (WiSEE) (WiSEE 2018)
Pages:: p.p. 227-232
Address:: Huntsville, USA
Date:: Dec. 2018
ISSN:: 2380-7628
DOI:: 10.1109/WiSEE.2018.8637343
hsb:: RWTH-2019-01849
Language:: English
Abstract:: The localization of highly agile targets is complicated by the fact that generic motion models usually cannot capture maneuvers sufficiently. This is particularly the case for aircraft tracking e.g. by means of radar, or in the localization of kinetically passive agents that are subject to unknown external forces. To improve the tracking accuracy in these cases, a novel particle filter scheme with random input sampling is proposed which can be combined with any relevant motion model. Via mimicking the unknown control input or, respectively, the external forces, the introduced sampling from artificial control input densities enables accurate tracking of highly agile agents. The proposed scheme is compared to particle filter based parameter estimation techniques as well as improved versions thereof which are also proposed in this work.
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