title: A constant speed changing rate and constant turn rate model for maneuvering target tracking.
abstract: This paper addresses the problem of modeling maneuvering target motion in tracking applications. A target trajectory can typically be divided into segments with different dynamic motion modes, such as a constant velocity motion, a constant acceleration motion or a constant turn rate motion. To integrate the different motion modes into a uniform model, a Constant Speed Changing Rate and Constant Turn Rate (CSCRCTR) model is proposed. A new state vector is defined, and the state transition function is derived. Based on the CSCRCTR model, we present a tracking algorithm using a particle filter. The performances of the CSCRCTR model, the uniform model (UM) and the interacting multiple model (IMM) for tracking a simulated maneuvering target are compared and show that the CSCRCTR model maintains a good consistency for different types of motions and achieves better accuracy than UM and IMM when maneuvers occur.
authors.affiliation: Department of Electronic Engineering, Tsinghua University, Beijing 100084, China. zhaiguan@gmail.com.
authors.forename: Guan
authors.initials: G
authors.lastname: Zhai
authors.affiliation: Department of Electronic Engineering, Tsinghua University, Beijing 100084, China. menghd@tsinghua.edu.cn.
authors.forename: Huadong
authors.initials: H
authors.lastname: Meng
authors.affiliation: Department of Electronic Engineering, Tsinghua University, Beijing 100084, China. wangxq_ee@tsinghua.edu.cn.
authors.forename: Xiqin
authors.initials: X
authors.lastname: Wang