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 <https://doi.org/10.1016/j.inffus.2018.01.002>. 
document_url: https://oa.upm.es/67070/1/INVE_MEM_2019_280835.pdf