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Keywords = DTED (digital terrain elevation model)

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19 pages, 1919 KiB  
Article
Ground Moving Target Tracking Filter Considering Terrain and Kinematics
by Do-Un Kim, Woo-Cheol Lee, Han-Lim Choi, Joontae Park, Jihoon An and Wonjun Lee
Sensors 2021, 21(20), 6902; https://doi.org/10.3390/s21206902 - 18 Oct 2021
Cited by 1 | Viewed by 2288
Abstract
This paper addresses ground target tracking (GTT) for airborne radar. Digital terrain elevation data (DTED) are widely used for GTT as prior information under the premise that ground targets are constrained on terrain. Existing works fuse DTED to a tracking filter in a [...] Read more.
This paper addresses ground target tracking (GTT) for airborne radar. Digital terrain elevation data (DTED) are widely used for GTT as prior information under the premise that ground targets are constrained on terrain. Existing works fuse DTED to a tracking filter in a way that adopts only the assumption that the position of the target is constrained on the terrain. However, by kinematics, it is natural that the velocity of the moving ground target is constrained as well. Furthermore, DTED provides neither continuous nor accurate measurement of terrain elevation. To overcome such limitations, we propose a novel soft terrain constraint and a constraint-aided particle filter. To resolve the difficulties in applying the DTED to the GTT, first, we reconstruct the ground-truth terrain elevation using a Gaussian process and treat DTED as a noisy observation of it. Then, terrain constraint is formulated as joint soft constraints of position and velocity. Finally, we derive a Soft Terrain Constrained Particle Filter (STC-PF) that propagates particles while approximately satisfying the terrain constraint in the prediction step. In the numerical simulations, STC-PF outperforms the Smoothly Constrained Kalman Filter (SCKF) in terms of tracking performance because SCKF can only incorporate hard constraints. Full article
(This article belongs to the Special Issue Signal Processing in Radar and Wireless Communication Systems)
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