Show/Hide Menu
Hide/Show Apps
anonymousUser
Logout
Türkçe
Türkçe
Search
Search
Login
Login
OpenMETU
OpenMETU
About
About
Açık Bilim Politikası
Açık Bilim Politikası
Frequently Asked Questions
Frequently Asked Questions
Browse
Browse
By Issue Date
By Issue Date
Authors
Authors
Titles
Titles
Subjects
Subjects
Communities & Collections
Communities & Collections
On Information Measures based on Particle Mixture for Optimal Bearings-only Tracking
Download
index.pdf
Date
2009-03-14
Author
Skoglar, Per
Orguner, Umut
Gustafsson, Fredrik
Metadata
Show full item record
This work is licensed under a
Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License
.
Item Usage Stats
4
views
9
downloads
In this work we consider a target tracking scenario where a moving observer with a bearings-only sensor is tracking a target. The tracking performance is highly dependent on the trajectory of the sensor platform, and the problem is to determine how it should maneuver for optimal tracking performance. The problem is considered as a stochastic optimal control problem and two sub-optimal control strategies are presented based on the Information filter and the determinant of the information matrix as the optimization objective. Using the determinant of the information matrix as an objective function in the planning problem is equivalent to using differential entropy of the posterior target density when it is Gaussian. For the non-Gaussian case, an approximation of the differential entropy of a density represented by a particle mixture is proposed. Furthermore, a gradient approximation of the differential entropy is derived and used in a stochastic gradient search algorithm applied to the planning problem.
Subject Keywords
Bearings-only tracking
,
Particle filter
,
Differential entropy
URI
https://hdl.handle.net/11511/33029
DOI
https://doi.org/10.1109/aero.2009.4839487
Collections
Department of Electrical and Electronics Engineering, Conference / Seminar