Aerospace and Electronic Systems Magazine May 2017 - 24
The Tracker Component Library
example, the pol2CartTaylor function offers a choice of four different algorithms.
A great many other coordinate-system conversions are provided by the library. These include conversions of time, computation of rotations using quaternions and Euler angles, and even
methods for converting a many types of units. For example, the
convertEnergyUnits function can convert yottajoules to electron
volts, among other conversions.
ASSIGNMENT ALGORITHMS
The Assignment Algorithms folder contains a number of assignment algorithms, including a strong polynomial time, globally
optimal 2D assignment algorithm, assign2D, a k-best 2D assignment algorithm, kBest2DAssign, and three different threedimensional (3D) assignment algorithms in assign3D, as well as
an extremely tight lower bound assign3DLB in case one wishes
to implement a branch-and-bound 3D assignment algorithm. Of
particular interest might be the functions singleScanUpdate and
singleScanUpdateWithExistence. The function singleScanUpdate implements generic measurement-updating routines for the
following filters:
1. Global nearest-neighbor (GNN)-joint probabilistic data association (JPDA) filter
2. JPDA filter
3. GNN filter
4. Parallel single-target probabilistic data association filters
5. Naïve nearest-neighbor filter
6. JPDA* filter
7. Approximate GNN-JPDA filter
8. Approximate JPDA filter
Multiple approximations are available for the approximate filters.
The approximations are used in the computation of target measurement association probabilities through the function calc2DAssignmentProbsApprox.
However, all of the aforementioned filters do not include
the ability to start and terminate tracks, only to update existing
tracks with measurements. The function singleScanUpdateWithExistence changes this, providing routines for the joint integrated probabilistic data association filter (JIPDAF), which
does measurement updates while maintaining track of target
existence probabilities. By reusing other subroutines, it is able
to go further in the literature, implementing the JIPDAF*, as
well as a GNN-JIPDAF (which is similar to the GNN-JPDAF)
and a number of approximate variants. The use of the filter is
demonstrated in the sample code provided in demo2DIntegratedDataAssociation. Figure 2 shows the output of that function,
where tracks on two maneuvering objects are automatically
started and terminated (the simulation is run past the end of
the tracks with just false-alarm detections to show proper track
termination).
24
Figure 2.
Sample code for a complete GNN-JIPDA tracking algorithm with track
initiation, update, and termination given in demo2DIntegratedDataAssociation. Tracks on two targets with 80% detection probability that
maneuver, cross, stay close together, and then separate are automatically found by the algorithm over 125 scans. The algorithm is also run
for an additional 50 scans to demonstrate the timely termination of the
tracks and the lack of false tracks produced. Tracks found are green;
true tracks are blue and red but are obscured by measurements (black).
Circles mark the mean of the measurements and are not indicative of
their accuracy.
A number of other methods are also provided. For example,
stableHouseAlloc and assignStableRoommates perform types of
2D assignment for optimality measures that are different from
traditional target tracking, and additional functions for computing
target measurement association probabilities are given.
PHYSICAL EFFECTS
The current version of the Tracker Component Library has an extensive set of building blocks for modeling basic physical effects
that might be of interest in the simulation and design of targettracking systems. Code related to such effects tends to be in the
directories
C
Astronomical Code
C
Atmospheric Models
C
Gravity
C
Magnetism
C
Terrain
Even when not tracking objects in space, a number of the algorithms in the Astronomical Code folder can be useful, particularly when combined with routines in the Atmospheric Models
IEEE A&E SYSTEMS MAGAZINE
MAY 2017
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