Abstract
In target tracking, the estimation problem is generated using the kinematic model of the target. The standard model is the straight-line motion model. Many variants to incorporate target maneuvers have been tried including interacting multiple motion models, adaptive Kalman filters, and neural extended Kalman filters. Each has performed well in a variety of situations. One problem with all of these approaches is that, without observability, the techniques often fail. In this paper, the first step in the development of a control-loop approach to the target-tracking problem is presented. In this effort, the use of a control law in conjunction with the estimation problem is examined. This approach is considered as the springboard for incorporating intelligence into the tracking problem without using ad hoc techniques that deviate from the underpinnings of the Kalman filter.
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Stubberud, S.C., Teranishi, A.M. (2014). Estimation for Target Tracking Using a Control Theoretic Approach – Part I. In: Swiątek, J., Grzech, A., Swiątek, P., Tomczak, J. (eds) Advances in Systems Science. Advances in Intelligent Systems and Computing, vol 240. Springer, Cham. https://doi.org/10.1007/978-3-319-01857-7_4
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DOI: https://doi.org/10.1007/978-3-319-01857-7_4
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-01856-0
Online ISBN: 978-3-319-01857-7
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