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

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Received: 13 January 2014; in revised form: 1 March 2014 / Accepted: 4 March 2014 / Published: 13 March 2014
(This article belongs to the Section Physical Sensors)
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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
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MDPI and ACS Style

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.

AMA Style

Zhai G, Meng H, Wang X. A Constant Speed Changing Rate and Constant Turn Rate Model for Maneuvering Target Tracking. Sensors. 2014; 14(3):5239-5253.

Chicago/Turabian Style

Zhai, Guan; Meng, Huadong; Wang, Xiqin. 2014. "A Constant Speed Changing Rate and Constant Turn Rate Model for Maneuvering Target Tracking." Sensors 14, no. 3: 5239-5253.


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