Gate Volume Estimation for Target Tracking
نویسندگان
چکیده
Gate volume is an integral part of many algorithms for non-parametric target tracking in clutter. Non-parametric target tracking assumes no a-priori knowledge of clutter measurement density. In the simplest case of a single-target single-state target tracking filter employing a Gaussian approximation, the gate is a hyper-ellipsoid whose volume can be calculated analytically. However, in a multi-target environment with closely spaced targets or in single target tracking with a mixture Gaussian approximation, the gate consists of overlapping hyper-ellipsoids and analytical evaluation of the gate volume is not possible. This paper presents a general algorithm for approximate estimation of volume of overlapping gates, together with tradeoffs between computing resources, volume estimation errors and its effects on target tracking performance.
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