A smoothing Rao-Blackwellized particle filter for tracking a highly-maneuverable target

Abstract

In this paper we apply a new smoothing Rao-Blackwellized particle filter to track a highly maneuverable target in a multiple-sensors network. The scenario of a highly-maneuverable target moving through a field of multiple sensors is addressed. The target is tracked through the sensors filed using both Rao-Blackwellized particle filter and the proposed smoothing filter. In a simulation comparison, the smoothing Rao-Blackwellized particle filter yields performance improvements when tracking a highly-maneuverable target.