Assurance regions in tracking

Abstract

An assurance region at level p, AP=p, is an area in motion space that contains the target with assigned probability p. It is on the basis of AP=p that an action is taken or a decision made. Common model-based trackers generate a synthetic distribution function for the kinematic state of the target. Unfortunately, this distribution is very coarse, and the resulting AP=p lack credibility. It is shown that a map-enhanced, multiple model algorithm reduces the tracking error and leads to a compact assurance region.