Validation Gating for Non-Linear Non-Gaussian Target Tracking
Bailey, Tim, Upcroft, Ben, & Durrant-Whyte, Hugh (2006) Validation Gating for Non-Linear Non-Gaussian Target Tracking. In Proceedings 9th International Conference on Information Fusion, 2006, IEEE, Florence, Italy.
This paper develops a general theory of
validation gating for non-linear non-Gaussian mod-
els. Validation gates are used in target tracking
to cull very unlikely measurement-to-track associa-
tions, before remaining association ambiguities are
handled by a more comprehensive (and expensive)
data association scheme. The essential property of
a gate is to accept a high percentage of correct associ-
ations, thus maximising track accuracy, but provide
a su±ciently tight bound to minimise the number of
For linear Gaussian systems, the ellipsoidal vali-
dation gate is standard, and possesses the statistical
property whereby a given threshold will accept a cer-
tain percentage of true associations. This property
does not hold for non-linear non-Gaussian models.
As a system departs from linear-Gaussian, the ellip-
soid gate tends to reject a higher than expected pro-
portion of correct associations and permit an excess
of false ones. In this paper, the concept of the ellip-
soidal gate is extended to permit correct statistics for
the non-linear non-Gaussian case. The new gate is
demonstrated by a bearing-only tracking example.
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|Item Type:||Conference Paper|
|Keywords:||data association scheme, statistical property, nonlinear nonGaussian model, ellipsoidal validation gate, target tracking, Radar tracking, Robots|
|Subjects:||Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > ELECTRICAL AND ELECTRONIC ENGINEERING (090600)|
|Divisions:||Past > QUT Faculties & Divisions > Faculty of Built Environment and Engineering|
Past > Schools > School of Engineering Systems
|Copyright Owner:||Copyright 2006 IEEE|
|Copyright Statement:||Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.|
|Deposited On:||11 May 2011 15:07|
|Last Modified:||11 Aug 2011 11:41|
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