In order to improve adaptability and robustness over a rough terrain, we add a strong
tracking filter (STF) [14] on the basis of UFastSLAM.
These include derivative control [1-3],
tracking filter technique, based on either low-pass or high-pass first-order RC filters [4-9], and notch filter technique that employs two second-order Wien-bridge filters with the incommensurate resonance frequencies [10].
Phung, "Labeled Random Finite Sets and the Bayes Multi-Target
Tracking Filter," IEEE Transactions on Signal Processing, vol.
The same problem is also analyzed in [21] where a comparison between EKF, a pseudo measurement
tracking filter, and a PF is pointed out.
A strong
tracking filter (STF) was proposed by Zhou [21], which makes the output residuals approximate to Gaussian white noise by selecting appropriate time varying gains online.
Mahler, "A particle-systems implementation of the PHD multitarget
tracking filter," in The International Society for Optical Engineering, vol.
A PLL is a closed loop negative feedback mechanism used as a most efficient and economical frequency multiplier and
tracking filter.
In Figure 3, the 4th order component extracted from the sweep by GOT is shown in comparison to the same component extracted with a Vold-Kalman
tracking filter. (7,8) Figure 3 also superimposes the envelope of both of these signal components, which is augmented by two insets to reveal details.
Therefore, the multiple models based on best-fitting Gaussian approximation and strong
tracking filter will be introduced to GGIW-CPHD algorithm to track maneuvering group targets with unknown number in this paper.