Innovative Filtering Techniques for Ground Target Tracking

Award Information
Agency: Department of Defense
Branch: Air Force
Contract: FA8650-04-M-1623
Agency Tracking Number: F041-204-1650
Amount: $99,467.00
Phase: Phase I
Program: SBIR
Awards Year: 2004
Solicitation Year: 2004
Solicitation Topic Code: AF04-204
Solicitation Number: 2004.1
Small Business Information
40 Lloyd Avenue, Suite 200, Malvern, PA, 19355
DUNS: 075485425
HUBZone Owned: N
Woman Owned: N
Socially and Economically Disadvantaged: N
Principal Investigator
 Barry Belkin
 (610) 644-3400
Business Contact
 John Eldridge
Title: Controller
Phone: (610) 644-3400
Research Institution
In multi-target tracking applications, ambiguities generally arise in how to associate sensor reports with targets. Multiple hypothesis tracking (MHT) algorithms maintain multiple alternative data associations to represent these ambiguities. We propose to develop an (MHT) algorithm design that will provide improved ambiguity resolution and target track estimation accuracy, and therefore improve long-term track maintenance capability. The methods we propose apply generally to the tracking of ground targets and to sensing technologies across the EM spectrum. The basic statistical estimation framework we propose is that of particle filtering (sequential Monte Carlo state estimation). The extension of existing data association hypotheses to incorporate additional scans of sensor data is cast as an assignment problem and is solved using the Munkres algorithm. Hypothesis pruning and hypothesis merging are implicit and are eliminated as formal hypothesis management operations. The updating of estimated target tracks is accomplished through the application of a stochastic differential equation to the continuous target state variables and the application of the Metropolis algorithm to the discrete target state variables. The effect is that through a deformation process existing target state estimates are transformed into samples from the modified Bayes' posterior distribution. The deformation function also provides a mechanism for restructuring hypotheses and target tracks in response to information indicating that modification of past data associations is required. The required computations are well suited for parallel processing at multiple levels. A Phase I task will be to identify the specific elements of the computation that are parallelizable and to quantify the reduction in execution time that can be achieved through parallel computation.

* Information listed above is at the time of submission. *

Agency Micro-sites

SBA logo
Department of Agriculture logo
Department of Commerce logo
Department of Defense logo
Department of Education logo
Department of Energy logo
Department of Health and Human Services logo
Department of Homeland Security logo
Department of Transportation logo
Environmental Protection Agency logo
National Aeronautics and Space Administration logo
National Science Foundation logo
US Flag An Official Website of the United States Government