Application of Bernoulli filter in bearings-only tracking scenarios

Guoping Shi; Yece Qian

doi:10.3788/IRLA20200343

Journals >Infrared and Laser Engineering >Volume 50 >Issue 2 >Page 20200343 > Article

Infrared and Laser Engineering
Vol. 50, Issue 2, 20200343 (2021)

Application of Bernoulli filter in bearings-only tracking scenarios

Guoping Shi and Yece Qian

Author Affiliations

Department of Mechanical and Electrical Engineering, Chizhou College, Chizhou 247000, China

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DOI: 10.3788/IRLA20200343 Cite this Article

Guoping Shi, Yece Qian. Application of Bernoulli filter in bearings-only tracking scenarios[J]. Infrared and Laser Engineering, 2021, 50(2): 20200343 Copy Citation Text

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Fig. 1. [in Chinese]

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Fig. 2. [in Chinese]

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Fig. 3. [in Chinese]

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Fig. 4. [in Chinese]

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Fig. 5. [in Chinese]

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Fig. 6. [in Chinese]

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Symbol	Description
	The newborn probability of the target
	The probability density function of the newborn target
	The existence probability of the target (not related to the target state in this paper)
	The Markov transition density of the target
	The priori probability of existence
	The priori probability density function
	The probability density function of the clutter
	The current measurement set
	The target detection probability
	The measurement likelihood function

Table 1. [in Chinese]

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Algorithm 1. PF implementation of the bearings-only tracking Bernoulli filter
(1) Input: The priori probability of existence , particle set , measurement set
(2) Calculate the predicted probability of existence by (3).
(3) Draw a sample for the particle set by (16), and calculate the predicted weights by (17)
(4) Compute the likelihood ratio using (18)
(5) Compute the posterior probability density function using (19)
(6) Compute the posterior weights using (20) and normalize the weights
(7) Resample and target state estimation
(8) Output: The posterior probability of existence , particle set , target state

Table 2. [in Chinese]

Guoping Shi, Yece Qian. Application of Bernoulli filter in bearings-only tracking scenarios[J]. Infrared and Laser Engineering, 2021, 50(2): 20200343

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