Tracking Initially Unresolved Thrusting Objects Using an Optical Sensor
Artikel i vetenskaplig tidskrift, 2018

This paper considers the problem of estimating the three-dimensional states of a salvo of thrusting/ballistic endo-atmospheric objects using two-dimensional (2-D) Cartesian measurements from the focal plane array (FPA) of a single fixed optical sensor. Since the initial separations in the FP are smaller than the resolution of the sensor, there are merged FP measurements, compounding the usual false-alarm and missed-detection uncertainty. We present a two-step methodology. First, we assume a Wiener process acceleration model for the motion of the images of the objects in the optical sensor's FPA. We model the merged measurements with increased variance, and thence employ a multi-Bernoulli (MB) filter using the 2-D measurements in the FPA. Second, using the set of associated measurements for each confirmed MB track, we formulate a parameter estimation problem, whose maximum likelihood solution can be obtained via numerical search and can be used for impact point prediction. Simulation results illustrate the performance of the proposed method.

parameter estimation

data association

initially unresolved measurements

A salvo of thrusting objects


Q. Lu

University of Connecticut

Y. Bar-Shalom

University of Connecticut

Peter Willett

University of Connecticut

R. Ben-Dov

University of Connecticut

Benny Milgrom

University of Connecticut

Karl Granström

Chalmers, Elektroteknik, Signalbehandling och medicinsk teknik

IEEE Transactions on Aerospace and Electronic Systems

0018-9251 (ISSN) 15579603 (eISSN)

Vol. 54 2 794-807




Datorseende och robotik (autonoma system)



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