Sensor selection: the modified riccati equation approach compared with other selection schemes

Abstract

In this paper a comparison is made between a sensor selection algorithm (SSA) based on the modified Riccati equation (MRE) on the one hand, and a random sensor selection (RSS) or a fixed sensor selection (FSS) scheme on the other hand. The goal is to investigate the benefits the MRE SSA yields compared to the other selection schemes. The MRE SSA is capable of handling sensors with probability of detection pd < 1 and performs sensor selection based on various expected performance criteria in a target tracking scenario. For all three selection schemes the particle filtering technique has been used for target tracking with an adaption for missed detections in the case of pd < 1. Results are compared using multiple runs with simulated data for a single, moving target and two stationary radars. One sensor yields range, Doppler and bearing information, the other range and bearing information. The analysis includes the quality of the state estimate and the sensor selection strategy.