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Sensors 2014, 14(3), 5239-5253; doi:10.3390/s140305239
Article

A Constant Speed Changing Rate and Constant Turn Rate Model for Maneuvering Target Tracking

,
*  and
Department of Electronic Engineering, Tsinghua University, Beijing 100084, China
* Author to whom correspondence should be addressed.
Received: 13 January 2014 / Revised: 1 March 2014 / Accepted: 4 March 2014 / Published: 13 March 2014
(This article belongs to the Section Physical Sensors)
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Abstract

This paper addresses the problem of modeling maneuvering target motion in tracking applications. A target trajectory can typically be divided into segments with different dynamic motion modes, such as a constant velocity motion, a constant acceleration motion or a constant turn rate motion. To integrate the different motion modes into a uniform model, a Constant Speed Changing Rate and Constant Turn Rate (CSCRCTR) model is proposed. A new state vector is defined, and the state transition function is derived. Based on the CSCRCTR model, we present a tracking algorithm using a particle filter. The performances of the CSCRCTR model, the uniform model (UM) and the interacting multiple model (IMM) for tracking a simulated maneuvering target are compared and show that the CSCRCTR model maintains a good consistency for different types of motions and achieves better accuracy than UM and IMM when maneuvers occur.
Keywords: dynamic model; constant speed changing rate and constant turn rate (CSCRCTR) model; maneuvering target tracking dynamic model; constant speed changing rate and constant turn rate (CSCRCTR) model; maneuvering target tracking
This is an open access article distributed under the Creative Commons Attribution License (CC BY 3.0).

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Zhai, G.; Meng, H.; Wang, X. A Constant Speed Changing Rate and Constant Turn Rate Model for Maneuvering Target Tracking. Sensors 2014, 14, 5239-5253.

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