Adaptive Multiple Fading IEKF and its Application in Target Tracking

Yan Chunman; Wu Songlun; Hu Zhibin

doi:10.3788/LOP202158.0628005

Laser & Optoelectronics Progress, Volume. 58, Issue 6, 6280051(2021)

Adaptive Multiple Fading IEKF and its Application in Target Tracking

Yan Chunman^1,2、*, Wu Songlun¹, and Hu Zhibin¹

Author Affiliations

¹College of Physics and Electronic Engineering, Northwest Normal University, Lanzhou, Gansu 730070, China

²Gansu Engineering Research Center of Intelligent Information Technology and Application, Lanzhou, Gansu 730070, China

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Figures & Tables(7)

Fig. 1. Tracking results under model mismatch. (a) RMSE of position; (b) RMSE of velocity; (c) RMSE of acceleration

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Fig. 2. Tracking results under process noise covariance mismatch. (a) RMSE of position; (b) RMSE of velocity; (c) RMSE of acceleration

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Fig. 3. Tracking results under measurement noise covariance mismatch. (a) RMSE of position; (b) RMSE of velocity; (c) RMSE of acceleration

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Table 1. Correspondence between relative positioning error and threshold^[16]
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Table 1. Correspondence between relative positioning error and threshold^[16]
Relative positioning error /% 0.5 0.4 0.3 0.2 0.1
Threshold 0.31 0.25 0.19 0.13 0.06

Table 2. ME and runtime of different algorithms under model mismatch

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Table 2. ME and runtime of different algorithms under model mismatch

Algorithm	ME			Runtime /s
Algorithm	Position /m	Velocity /(m·s^-1)	Acceleration /(m·s^-2)	Runtime /s
IEKF	22.5528	0.8117	0.0726	0.0154
AIEKF	4.2763	0.6776	0.0672	0.1105
MFIEKF	5.4990	0.7488	0.0704	0.0781
Proposed algorithm	2.9384	0.5424	0.0613	0.0942

Table 3. ME and runtime of different algorithms under process noise covariance mismatch

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Table 3. ME and runtime of different algorithms under process noise covariance mismatch

Algorithm	ME			Runtime /s
Algorithm	Position /m	Velocity /(m·s^-1)	Acceleration /(m·s^-2)	Runtime /s
IEKF	4.0043	0.7507	0.0698	0.0623
AIEKF	2.0518	0.6592	0.0690	0.1711
MFIEKF	2.5182	0.7087	0.0694	0.0931
Proposed algorithm	1.5876	0.6124	0.0656	0.1732

Table 4. ME and runtime of different algorithms under measurement noise covariance mismatch

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Table 4. ME and runtime of different algorithms under measurement noise covariance mismatch

Algorithm	ME			Runtime /s
Algorithm	Position /m	Velocity /(m·s^-1)	Acceleration /(m·s^-2)	Runtime /s
IEKF	3.2746	0.6443	0.0629	0.0648
AIEKF	2.2893	0.5758	0.0617	0.1561
MFIEKF	2.6930	0.6045	0.0622	0.0943
Proposed algorithm	1.6175	0.5233	0.0595	0.1557

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Yan Chunman, Wu Songlun, Hu Zhibin. Adaptive Multiple Fading IEKF and its Application in Target Tracking[J]. Laser & Optoelectronics Progress, 2021, 58(6): 6280051

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