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Blasch Erik and Straka Ondřej and Duník Jindřich and Šimandl Miroslav : Multitarget Tracking Performance Analysis Using the Non-Credibility Index in the Nonlinear Estimation Framework (NEF) Toolbox . Proceeding of National Aerospace and Electronics Conference 2010, Institute of Electrical and Electronics Engineers ( IEEE ), Fairborn, USA, 2010.

Abstract

Target tracking, nonlinear control, and fault detection are typically evaluated with only a Root Mean Square (RMS). RMS is an absolute measurement of the system performance and does not provide a statistic as to the tracker, controller, or fault detection algorithmic performance. For this paper, we investigate the noncredibility index (NCI) and average normalized estimation error square (ANEES) for nonlinear estimation for the Kalman Filter (KF), the Central Difference Filter (DD1), the unscented Kalman filter (UKF), and the particle filter (PF). Fault detection and target track performance is dependent on target maneuvers, sensor errors, model parameters, and state estimation which need to be understood relative to the filter performance versus the absolute performance (i.e. root mean square) of the system. Utilizing the developments of the Nonlinear Estimation Framework (NEF) toolbox, we develop methods of nonlinear relative comparison performance between nonlinear filters in a unified scenario.

Detail of publication

Title: Multitarget Tracking Performance Analysis Using the Non-Credibility Index in the Nonlinear Estimation Framework (NEF) Toolbox
Author: Blasch Erik ; Straka Ondřej ; Duník Jindřich ; Šimandl Miroslav
Language: English
Year: 2010
Type of publication: Papers in proceedings of reviewed conferences
Title of journal or book: Proceeding of National Aerospace and Electronics Conference 2010
Publisher: Institute of Electrical and Electronics Engineers ( IEEE )
Address: Fairborn, USA
Date: 16 Jul 2010
2011-03-15 16:21:54 / 2011-03-15 16:21:54 / 1

Keywords

Track metrics, RMS, non-credibility index, Relative track metrics, ANEES, PF, UKF, PDAF

BibTeX

@INPROCEEDINGS{BlaschErik_2010_MultitargetTracking,
 author = {Blasch Erik and Straka Ond\v{r}ej and Dun\'{i}k Jind\v{r}ich and \v{S}imandl Miroslav},
 title = {Multitarget Tracking Performance Analysis Using the Non-Credibility Index in the Nonlinear Estimation Framework (NEF) Toolbox},
 year = {2010},
 publisher = {Institute of Electrical and Electronics Engineers ( IEEE )},
 journal = {Proceeding of National Aerospace and Electronics Conference 2010},
 address = {Fairborn, USA},
 url = {http://www.kky.zcu.cz/en/publications/BlaschErik_2010_MultitargetTracking},
}