Gaussian-sum cubature Kalman smoothers for bearings-only tracking

Pei Hua Leong; Sanjeev Arulampalam; Tharaka Anuradha Lamahewa; Thushara D. Abhayapala

doi:10.1109/ISSNIP.2014.6827589

Gaussian-sum cubature Kalman smoothers for bearings-only tracking

Pei Hua Leong, Sanjeev Arulampalam, Tharaka Anuradha Lamahewa, Thushara D. Abhayapala

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Citation (Scopus)

Abstract

In this paper, a fixed-lag and a fixed-interval Gaussian-sum cubature Kalman smoother are proposed for the bearings-only tracking problem. The smoothers are of the forward-backward type and they utilise the Gaussian-sum cubature Kalman filter with improved robustness presented by the authors in [1]. Simulation results show that both the fixed-lag and fixed-interval smoothers exhibit improved accuracy over their filtering counterpart and outperform other existing smoothers of the same type for this problem, with the root-mean-square error overlapping the Cramér-Rao lower bound.

Original language	English
Title of host publication	IEEE ISSNIP 2014 - 2014 IEEE 9th International Conference on Intelligent Sensors, Sensor Networks and Information Processing, Conference Proceedings
Publisher	IEEE Computer Society
ISBN (Print)	9781479928439
DOIs	https://doi.org/10.1109/ISSNIP.2014.6827589
Publication status	Published - 2014
Event	9th IEEE International Conference on Intelligent Sensors, Sensor Networks and Information Processing, IEEE ISSNIP 2014 - Singapore, Singapore Duration: 21 Apr 2014 → 24 Apr 2014

Publication series

Name	IEEE ISSNIP 2014 - 2014 IEEE 9th International Conference on Intelligent Sensors, Sensor Networks and Information Processing, Conference Proceedings

Conference

Conference	9th IEEE International Conference on Intelligent Sensors, Sensor Networks and Information Processing, IEEE ISSNIP 2014
Country/Territory	Singapore
City	Singapore
Period	21/04/14 → 24/04/14

Access to Document

10.1109/ISSNIP.2014.6827589

Cite this

Leong, P. H., Arulampalam, S., Lamahewa, T. A., & Abhayapala, T. D. (2014). Gaussian-sum cubature Kalman smoothers for bearings-only tracking. In IEEE ISSNIP 2014 - 2014 IEEE 9th International Conference on Intelligent Sensors, Sensor Networks and Information Processing, Conference Proceedings Article 6827589 (IEEE ISSNIP 2014 - 2014 IEEE 9th International Conference on Intelligent Sensors, Sensor Networks and Information Processing, Conference Proceedings). IEEE Computer Society. https://doi.org/10.1109/ISSNIP.2014.6827589

Leong, Pei Hua ; Arulampalam, Sanjeev ; Lamahewa, Tharaka Anuradha et al. / Gaussian-sum cubature Kalman smoothers for bearings-only tracking. IEEE ISSNIP 2014 - 2014 IEEE 9th International Conference on Intelligent Sensors, Sensor Networks and Information Processing, Conference Proceedings. IEEE Computer Society, 2014. (IEEE ISSNIP 2014 - 2014 IEEE 9th International Conference on Intelligent Sensors, Sensor Networks and Information Processing, Conference Proceedings).

@inproceedings{2752d75aa84e47dda98e12699dcaf877,

title = "Gaussian-sum cubature Kalman smoothers for bearings-only tracking",

abstract = "In this paper, a fixed-lag and a fixed-interval Gaussian-sum cubature Kalman smoother are proposed for the bearings-only tracking problem. The smoothers are of the forward-backward type and they utilise the Gaussian-sum cubature Kalman filter with improved robustness presented by the authors in [1]. Simulation results show that both the fixed-lag and fixed-interval smoothers exhibit improved accuracy over their filtering counterpart and outperform other existing smoothers of the same type for this problem, with the root-mean-square error overlapping the Cram{\'e}r-Rao lower bound.",

author = "Leong, {Pei Hua} and Sanjeev Arulampalam and Lamahewa, {Tharaka Anuradha} and Abhayapala, {Thushara D.}",

year = "2014",

doi = "10.1109/ISSNIP.2014.6827589",

language = "English",

isbn = "9781479928439",

series = "IEEE ISSNIP 2014 - 2014 IEEE 9th International Conference on Intelligent Sensors, Sensor Networks and Information Processing, Conference Proceedings",

publisher = "IEEE Computer Society",

booktitle = "IEEE ISSNIP 2014 - 2014 IEEE 9th International Conference on Intelligent Sensors, Sensor Networks and Information Processing, Conference Proceedings",

address = "United States",

note = "9th IEEE International Conference on Intelligent Sensors, Sensor Networks and Information Processing, IEEE ISSNIP 2014 ; Conference date: 21-04-2014 Through 24-04-2014",

}

Leong, PH, Arulampalam, S, Lamahewa, TA & Abhayapala, TD 2014, Gaussian-sum cubature Kalman smoothers for bearings-only tracking. in IEEE ISSNIP 2014 - 2014 IEEE 9th International Conference on Intelligent Sensors, Sensor Networks and Information Processing, Conference Proceedings., 6827589, IEEE ISSNIP 2014 - 2014 IEEE 9th International Conference on Intelligent Sensors, Sensor Networks and Information Processing, Conference Proceedings, IEEE Computer Society, 9th IEEE International Conference on Intelligent Sensors, Sensor Networks and Information Processing, IEEE ISSNIP 2014, Singapore, Singapore, 21/04/14. https://doi.org/10.1109/ISSNIP.2014.6827589

Gaussian-sum cubature Kalman smoothers for bearings-only tracking. / Leong, Pei Hua; Arulampalam, Sanjeev; Lamahewa, Tharaka Anuradha et al.
IEEE ISSNIP 2014 - 2014 IEEE 9th International Conference on Intelligent Sensors, Sensor Networks and Information Processing, Conference Proceedings. IEEE Computer Society, 2014. 6827589 (IEEE ISSNIP 2014 - 2014 IEEE 9th International Conference on Intelligent Sensors, Sensor Networks and Information Processing, Conference Proceedings).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Gaussian-sum cubature Kalman smoothers for bearings-only tracking

AU - Leong, Pei Hua

AU - Arulampalam, Sanjeev

AU - Lamahewa, Tharaka Anuradha

AU - Abhayapala, Thushara D.

PY - 2014

Y1 - 2014

N2 - In this paper, a fixed-lag and a fixed-interval Gaussian-sum cubature Kalman smoother are proposed for the bearings-only tracking problem. The smoothers are of the forward-backward type and they utilise the Gaussian-sum cubature Kalman filter with improved robustness presented by the authors in [1]. Simulation results show that both the fixed-lag and fixed-interval smoothers exhibit improved accuracy over their filtering counterpart and outperform other existing smoothers of the same type for this problem, with the root-mean-square error overlapping the Cramér-Rao lower bound.

AB - In this paper, a fixed-lag and a fixed-interval Gaussian-sum cubature Kalman smoother are proposed for the bearings-only tracking problem. The smoothers are of the forward-backward type and they utilise the Gaussian-sum cubature Kalman filter with improved robustness presented by the authors in [1]. Simulation results show that both the fixed-lag and fixed-interval smoothers exhibit improved accuracy over their filtering counterpart and outperform other existing smoothers of the same type for this problem, with the root-mean-square error overlapping the Cramér-Rao lower bound.

UR - http://www.scopus.com/inward/record.url?scp=84903736186&partnerID=8YFLogxK

U2 - 10.1109/ISSNIP.2014.6827589

DO - 10.1109/ISSNIP.2014.6827589

M3 - Conference contribution

SN - 9781479928439

T3 - IEEE ISSNIP 2014 - 2014 IEEE 9th International Conference on Intelligent Sensors, Sensor Networks and Information Processing, Conference Proceedings

BT - IEEE ISSNIP 2014 - 2014 IEEE 9th International Conference on Intelligent Sensors, Sensor Networks and Information Processing, Conference Proceedings

PB - IEEE Computer Society

T2 - 9th IEEE International Conference on Intelligent Sensors, Sensor Networks and Information Processing, IEEE ISSNIP 2014

Y2 - 21 April 2014 through 24 April 2014

ER -

Leong PH, Arulampalam S, Lamahewa TA, Abhayapala TD. Gaussian-sum cubature Kalman smoothers for bearings-only tracking. In IEEE ISSNIP 2014 - 2014 IEEE 9th International Conference on Intelligent Sensors, Sensor Networks and Information Processing, Conference Proceedings. IEEE Computer Society. 2014. 6827589. (IEEE ISSNIP 2014 - 2014 IEEE 9th International Conference on Intelligent Sensors, Sensor Networks and Information Processing, Conference Proceedings). doi: 10.1109/ISSNIP.2014.6827589

Gaussian-sum cubature Kalman smoothers for bearings-only tracking

Abstract

Publication series

Conference

Access to Document

Other files and links

Fingerprint

Cite this