A modified variable rate particle filter for maneuvering target tracking

To address the problem of maneuvering target tracking, where the target trajectory has prolonged smooth regions and abrupt maneuvering regions, a modified variable rate particle filter （MVRPF） is proposed. First, a Cartesian-coordinate based variable rate model is presented. Compared with conventional variable rate models, the proposed model does not need any prior knowledge of target mass or external forces. Consequently, it is more convenient in practical tracking applications. Second, a maneuvering detection strategy is adopted to adaptively adjust the parameters in MVRPF, which helps allocate more state points at high maneuver regions and fewer at smooth regions. Third, in the presence of small measurement errors, the unscented particle filter, which is embedded in MVRPF, can move more particles into regions of high likelihood and hence can improve the tracking performance. Simulation results illustrate the effectiveness of the proposed method.

A novel bearing-assisted TDOA-GROA approach for passive source localization

Purpose–The passive source localization(PSL)problem using angles of arrival(AOA),time differences of arrival(TDOA)or gain ratios of arrival(GROA)is generally nonlinear and nontrival.In this research,the purpose of this paper is to design an accurate hybrid source localization approach to solve the PSL problem.The inspiration is drawn from the fact that the bearings,TDOAs and GROAs are complementary in terms of their geometry properties.Design/methodology/approach–The maximum-likelihood(ML)method is reexamined by using hybrid measurements.Being assisted by the bearings,a new hybrid weighted least-squares(WLS)method is then proposed by jointly utilizing the bearing,TDOA and GROA measurements.Findings–Theoretical performance analysis illustrates that the mean-square error of the ML or WLS method can attain the Cramér-Rao lower bound for Gaussian noiseover small error region.However,the WLS method has much lower computational complexity than the ML algorithm.Compared with the AOA-only,TDOA-only,AOA-TDOA,TDOA-GROA methods,the localization accuracy can be greatly improved by combining the AOAs,TDOAs and GROAs,especially for some specific geometries.Originality/value–A novel bearing-assisted TDOA-GROA method is proposed for source localization,and a new hybrid WLS estimator is presented inspired from the fact that the bearings,TDOAs and GROAs are complementary in terms of their geometry properties.