Aerospace and Electronic Systems Magazine October 2017 - 35

Fertig, Baden, and Guerci

Figure 12.

Upper graphics: Performance in the blind data test at the conclusion of MER Phase II for Test Point A. Vehicle 1 is shown in blue, and Vehicle 2 is shown
in red. (a) True trajectories are indicated with solid lines, and estimated trajectories are indicated with dashed lines. (b) RMS position errors for estimated
trajectories. Lower graphics: Performance in the blind data test at the conclusion of MER Phase II for Test Point B. Vehicle 1 is shown in blue, and
Vehicle 2 is shown in red. (c) True trajectories are indicated with solid lines, and estimated trajectories are indicated with dashed lines. (d) RMS position
errors for estimated trajectories.

for Vehicle 2 shown in red. A logarithmic scale is used for the y-axis. The estimated trajectory for Vehicle 1 is generally within a few
meters of truth. At all times, the correct road segment is selected.
The estimated trajectory for Vehicle 2 is also excellent. Only in the
first few seconds (when neither multipath nor LOS was observed)
was the trajectory of Vehicle 2 not estimated. Even in this situation,
the data-processing team noted that the absence of detections associated with the other intersecting roads strongly suggested what
was later confirmed to be the true origin of the vehicle.
The results obtained with MER processing for test point B are
shown in the lower graphics of Figure 12. The format of these figures is the same as that used in the upper graphics of Figure 12.
It is evident from Figure 12c that the correct number of moving
OCTOBER 2017

vehicles (two) was identified, and movies of the truth versus predictions verify that track swapping did not occur. The accuracy of
the estimated trajectories is outstanding. The RMS position error
for the estimated trajectories are shown in Figure 12d, with the error for Vehicle 1 shown in blue and the error for Vehicle 2 shown
in red. A logarithmic scale is used for the y-axis. The estimated
trajectory for Vehicle 1 is generally within a few meters of truth.
At all times, the correct road segment is selected. The estimated
trajectory for Vehicle 2 is also excellent. Only in the first few seconds was the incorrect road segment selected for Vehicle 2 due to
a geometric ambiguity. Although not shown here, the significant
probability for this ambiguity during this period was recognized
by the data-processing team.

IEEE A&E SYSTEMS MAGAZINE

35



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