Cramer-Rao Lower Bounds for Bearings-Only Maneuvering Target Tracking with Incomplete Measurements
The theoretical Cramer-Rao lower bound (CRLB) for bearings-only maneuvering target tracking is derived in the case where the observation measurements are lost in a random fashion. Two binary variables are introduced to model two events respectively, one which the target maneuvers or not and another that the target is detected or missed. The corresponding recursive formula for theoretical CRLB is then derived based on the sequential version of the CRLB for general nonlinear systems. The theoretical formula suffers from heavy calculation load of the Fisher information matrix (FIM) while the constant probability of detection is less than unity. An approximation of the theoretical bound is proposed. In addition, a detection reduction factor bound is presented and proved to be less than the theoretical CRLB. The results are illustrated with a numerical example.
Cramer-Rao lower bound Maneuvering target tracking Incomplete measurements Bearings-only tracking
Xu Zhigang Sheng Andong Li Yinya
School of Automation, Nanjing University of Science and Technology, Nanjing 210094, China School of School of Automation, Nanjing University of Science and Technology, Nanjing 210094, China
国际会议
2009年中国控制与决策会议(2009 Chinese Control and Decision Conference)
广西桂林
英文
2201-2206
2009-06-17（万方平台首次上网日期，不代表论文的发表时间）