Kenshi Saho

Automatic Parameter Setting Method for an Accurate Kalman Filter Tracker Using an Analytical Steady-State Performance Index

We present an automatic parameter setting method to achieve an accurate second-order Kalman filter tracker based on a steady-state performance index. First, we propose an efficient steady-state performance index that corresponds to the root-mean-square (rms) prediction error in tracking. We then derive an analytical relationship between the proposed performance index and the generalized error covariance matrix of the process noise, for which the automatic determination using the derived relationship is presented. The model calculated by the proposed method achieves better accuracy than the conventional empirical model of process noise. Numerical analysis and simulations demonstrate the effectiveness of the proposed method for targets with accelerating motion. The rms prediction error of the tracker designed by the proposed method is 63.8% of that with the conventional empirically selected model for a target accelerating at 10 m/s2.

Ultrawideband Radar Imaging Using Adaptive Array and Doppler Separation

Ultrawideband Doppler radar interferometry is known as an effective method that enables high-resolution imaging when using a simple antenna array. The technique, however, suffers from image artifacts when multiple moving targets with the similar Doppler velocities are present in the same range bin. To resolve this problem, we combine the Doppler interferometry technique with the Capon methods. Through numerical simulations and experiments, we show the remarkable performance improvement achieved by the proposed method.

Performance analysis of α - β - γ tracking filters using position and velocity measurements

This paper examines the performance of two position-velocity-measured (PVM) α- β- γ tracking filters. The first estimates the target acceleration using the measured velocity, and the second, which is proposed for the first time in this paper, estimates acceleration using the measured position. To quantify the performance of these PVM α- β- γ filters, we analytically derive steady-state errors that assume that the target is moving with constant acceleration or jerk. With these performance indices, the optimal gains of the PVM α- β- γ filters are determined using a minimum-variance filter criterion. The performance of each filter under these optimal gains is then analyzed and compared. Numerical analyses clarify the performance of the PVM α- β- γ filters and verify that their accuracy is better than that of the general position-only-measured α- β- γ filter, even when the variance in velocity measurement noise is comparatively large. We identify the conditions under which the proposed PVM α- β- γ filter outperforms the general α- β- γ filter for different ratios of noise variance in the velocity and position measurements. Finally, numerical simulations verify the effectiveness of the PVM α- β- γ filters for a realistic maneuvering target.

Three-Dimensional Imaging Method Incorporating Range Points Migration and Doppler Velocity Estimation for UWB Millimeter-Wave Radar

High-resolution, short-range sensors that can be applied in optically challenging environments (e.g., in the presence of clouds, fog, and/or dark smog) are in high demand. Ultrawideband (UWB) millimeter-wave radars are one of the most promising devices for the above-mentioned applications. For target recognition using sensors, it is necessary to convert observational data into full 3-D images with both time efficiency and high accuracy. For such conversion algorithm, we have already proposed the range points migration (RPM) method. However, in the existence of multiple separated objects, this method suffers from inaccuracy and high computational cost due to dealing with many observed RPs. To address this issue, this letter introduces Doppler-based RPs clustering into the RPM method. The results from numerical simulations, assuming 140-GHz band millimeter radars, show that the addition of Doppler velocity into the RPM method results in more accurate 3-D images with reducing computational costs.

α–β–γ tracking filters using acceleration measurements

BackgroundAlthough real-time tracking of moving objects using a variety of sensor parameters is in great demand in monitoring systems, no studies have reported α–

Performance analysis of fixed-gain position-velocity-measured tracking filter

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Imaging of pedestrians with UWB Doppler radar interferometry

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