Abstract
This paper considers the object tracking problem in three dimensional (3-D) space when the azimuth and elevation of the object are available from the passive acoustic sensor. The particle filtering technique can be directly applied to estimate the 3-D object location, but we propose to decompose the 3-D particle filter into the three planes' particle filters, which are individually designed for the 2-D bearings-only tracking problems. 2-D bearing information is derived from the azimuth and elevation of the object to be used for the 2-D particle filter. Two estimates of three planes' particle filters are selected based on the characterization of the acoustic sensor operation in a noisy environment. The Cramer-Rao Lower Bound of the proposed 2-D particle filter-based algorithm is derived and compared against the algorithm that is based on the direct 3-D particle filter.
Original language | English |
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Pages (from-to) | 1632-1652 |
Number of pages | 21 |
Journal | KSII Transactions on Internet and Information Systems |
Volume | 5 |
Issue number | 9 |
DOIs | |
Publication status | Published - 2011 Sept 29 |
Keywords
- 3-D object tracking
- Acoustic sensors
- Bearings-only tracking
- Data fusion
- Particle filter
ASJC Scopus subject areas
- Information Systems
- Computer Networks and Communications