Application of Topographic State Constraints in Ground Target Tracking

Abstract

In this work, tracking performance affects of the application of topographic state constraint information was investigated in a ground target tracking scenario utilizing a GMTI radar by using unscented Kalman filter based VS-IMM algorithm as well as VS-SIR particle filter and the tracking results of the aforementioned filters were compared to the results achieved by an unconstrained IMM filter. It was observed that application of topographic state constraints helped the performance of tracking algorithms for tracking onroad targets. However, it was also seen that constrained trackers showed error spikes greater than those of the unconstrained filter when either targets left roads or approached junctions.