A joint radar-acoustic particle filter tracker with acoustic propagation delay compensation

In this paper, a novel particle filter tracker is presented for target tracking using collocated radar and acoustic sensors. Real-time tracking of the target's position and velocity in Cartesian coordinates is performed using batches of range and direction-of-arrival estimates. For robustness, the filter aligns the radar and acoustic data streams to account for acoustic propagation delays. The filter proposal function uses a Gaussian approximation to the full tracking posterior for improved efficiency. To incorporate the aligned acoustic data into the tracker, a two-stage weighting strategy is proposed. Computer simulations are provided to demonstrate the effectiveness of the algorithm.


Presented at:
European Conference on Signal Processing (EUSIPCO), Florence, Italy, September, 2006
Year:
2006
Laboratories:




 Record created 2010-09-07, last modified 2018-03-17

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