Nearest Neighbor Data Association Algorithm Based on Robust Kalman Filtering

2021 ◽  
Author(s):  
Rongqing Su ◽  
Jun Tang ◽  
Jiangnan Yuan ◽  
Yuewen Bi
Keyword(s):  
Kalman Filtering ◽  
Nearest Neighbor ◽  
Data Association ◽  
Association Algorithm

An Efficient Data Association Algorithm for Single Target Tracking with Multiple Centralized Heterogeneous Sensors

2011 ◽  
Vol 268-270 ◽  
pp. 2213-2224
Author(s):  
Da Wei Lu ◽  
Xing Wei Yan ◽  
Jian Ping Ou ◽  
Rong Hui Zhan ◽  
Jun Zhang
Keyword(s):  
Nearest Neighbor ◽  
Unscented Kalman Filter ◽  
Data Association ◽  
Measurement Model ◽  
Matched Pair ◽  
Heterogeneous Sensors ◽  
Single Target ◽  
Target Track ◽  
Efficient Data ◽  
Association Algorithm

An efficient data association algorithm is presented to track a single target with multiple centralized heterogeneous sensors. The sharing parts of measurements from different sensors are used to accomplish the data association, which utilizes the 2 test match combined with Nearest Neighbor association strategy to depress the dummy measurements. Targetoriginated measurement matched pair will be retained and fused to update the target track. Unscented kalman filter is deployed to target state estimation for both the dynamic and measurement model are nonlinear. Simulations validate the algorithm and conclusions.

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