Rao-Blackwellized Particle Filters With Out-of-Sequence Measurement Processing

This paper addresses the out-of-sequence measurement (OOSM) problem for mixed linear/nonlinear state-space models, which is a class of nonlinear models with a tractable, conditionally linear substructure. We develop two novel algorithms that utilize the linear substructure. The first algorithm effec...

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Bibliographic Details
Published in:IEEE transactions on signal processing Vol. 62; no. 24; pp. 6454 - 6467
Main Authors: Berntorp, Karl, Robertsson, Anders, Arzen, Karl-Erik
Format: Journal Article
Language:English
Published: New York IEEE 15.12.2014
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:
Accuracy
Algorithms
Atmospheric measurements
Computer simulation
Control Engineering
Electrical Engineering, Electronic Engineering, Information Engineering
Elektroteknik och elektronik
Engineering and Technology
Filtering
Filtration
Heuristic
Nonlinearity
Out-of-sequence measurement (OOSM)
particle filtering
Particle measurements
Radar tracking
Rao-Blackwellization
Reglerteknik
Sensors
Signal processing algorithms
Simulation
State-space methods
Substructures
Target tracking
Teknik
Tracking
ISSN:1053-587X, 1941-0476, 1941-0476
Online Access:Get full text
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Summary:This paper addresses the out-of-sequence measurement (OOSM) problem for mixed linear/nonlinear state-space models, which is a class of nonlinear models with a tractable, conditionally linear substructure. We develop two novel algorithms that utilize the linear substructure. The first algorithm effectively employs the Rao-Blackwellized particle filtering framework for updating with the OOSMs, and is based on storing only a subset of the particles and their weights over an arbitrary, predefined interval. The second algorithm adapts a backward simulation approach to update with the delayed (out-of-sequence) measurements, resulting in superior tracking performance. Extensive simulation studies show the efficacy of our approaches in terms of computation time and tracking performance. Both algorithms yield estimation improvements when compared with recent particle filter algorithms for OOSM processing; in the considered examples they achieve up to 10% enhancements in estimation accuracy. In some cases, the proposed algorithms even deliver accuracy that is similar to the lower performance bounds. Because the considered setup is common in various estimation scenarios, the developed algorithms enable improvements in different types of filtering applications.
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ISSN:1053-587X
1941-0476
1941-0476
DOI:10.1109/TSP.2014.2365763