eprintid: 67070 rev_number: 10 eprint_status: archive userid: 1903 dir: disk0/00/06/70/70 datestamp: 2021-05-19 15:07:17 lastmod: 2021-05-19 15:07:17 status_changed: 2021-05-19 15:07:17 type: article metadata_visibility: show creators_name: López-Araquistain López, Jaime creators_name: Jarama Pellico, Ángel Joaquín creators_name: Besada Portas, Juan Alberto creators_name: Miguel Vela, Gonzalo de creators_name: Casar Corredera, José Ramón creators_id: besada@grpss.ssr.upm.es title: A new approach to map-assisted Bayesian tracking filtering publisher: Elsevier rights: by-nc-nd ispublished: pub subjects: telecomunicaciones full_text_status: public keywords: MHT; Ground target tracking;IMM; Non-linear tracking; Context based tracking abstract: This paper presents a new non-linear filter designed to track targets following a road network, taking advantage of the road map information. The algorithm is based on a Bayesian Multiple Hypotheses modelling of movement process, postulating and evaluating different hypotheses on the segments being followed by the target after road junctions. Then, the along-road tracking is carried out, for each hypothesis, by a longitudinal IMM filter capable of tracking target movements along straight roads, circular segments, and generic curvilinear segments defined through Bézier curves. The algorithm also includes a lateral drift estimator, which tracks the lateral motion of the target with respect to road axis, to be able to estimate target piloting error and especially to track targets in wide roads. The paper completely describes the filter and associated measurement preprocessing procedures, and also includes a comparative evaluation of the proposed filter with other filtering methods in the literature. date_type: published date: 2019-01 publication: Information Fusion volume: 45 pagerange: 79-95 id_number: 10.1016/j.inffus.2018.01.002 institution: Telecomunicacion department: Senales refereed: TRUE issn: 1566-2535 official_url: https://www.sciencedirect.com/science/article/pii/S1566253517300933 comprojects_type: UPM comprojects_type: MINECO comprojects_code: RP1509550C02 comprojects_code: TEC2014-57022-C2-1-R comprojects_title: Tecnologías Avanzadas para la Monitorización y Gestión Remota del Tráfico Aéreo de Vehículos Pilotados y no Pilotados citation: López-Araquistain López, Jaime and Jarama Pellico, Ángel Joaquín and Besada Portas, Juan Alberto and Miguel Vela, Gonzalo de and Casar Corredera, José Ramón (2019). A new approach to map-assisted Bayesian tracking filtering. "Information Fusion", v. 45 ; pp. 79-95. ISSN 1566-2535. https://doi.org/10.1016/j.inffus.2018.01.002 . document_url: https://oa.upm.es/67070/1/INVE_MEM_2019_280835.pdf