Target tracking formulation of the SVSF as a probabilistic data association algorithm

Abstract

Target tracking algorithms are important for a number of applications, including: physics, air traffic control, ground vehicle monitoring, and processing medical images. The probabilistic data association algorithm, in conjunction with the Kalman filter (KF), is one of the most popular and well-studied strategies. The relatively new smooth variable structure filter (SVSF) offers a robust and stable estimation strategy under the presence of modeling errors, unlike the KF method. The purpose of this paper is to introduce and formulate the SVSF-PDA, which can be used for target tracking. A simple example is used to compare the estimation results of the popular KF-PDA with the new SVSF-PDA. © 2013 AACC American Automatic Control Council.