Basic Algorithms for Target Tracking

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Abstract

This course goes through a variety of components that arise in target tracking algorithms, with a focus on single-scan algorithms. In many areas, reference is made to functions in the open-source copy leftfree Tracker Component Library (available online) so that attendees can rapidly apply the algorithms that are discussed. The presentation slides containing additional derivations will be made available.

Description

Course Outline:

1) Introduction

2) Basic Estimation

  • Mathematical Concepts
  • Mathematical Coordinate Systems
  • Signal Processing Topics
  • Measurement Conversion
  • Parameter Estimation
  • Bayesian Estimation
  • Assessing Estimator Performance
  • Nonlinear Measurement Updates
  • Track Initiation
  • Linear Dynamic Models

3) Nonlinear Dynamics

  • Deterministic Differential Equations
  • Stochastic Dynamic Models
  • Nonlinear Continuous-Time Propagation
  • Celestial and Terrestrial Coordinate Systems
  • Basic Orbital Dynamics

4) Estimation with Model Mismatches

  • Simple Robustness Techniques
  • Alternative Filters
  • Multiple Model Algorithms

5) Target-Measurement Association

  • Cost Functions for Measurement Assignment
  • Single-Scan Assignment Algorithms
  • Comments on Beams
  • Single Scan Track Confirmation and Termination
  • Offline Performance Prediction
  • Multiframe Assignment

6) Estimation with High Nonlinearity

  • Particle Filtering
  • Particle Flow Filtering
  • Track Initiation with Any Type of Measurement