ANALYSIS OF ASSOCIATION GATES IN RADAR TRACKING BASED ON KALMAN FILTER

摘要

Radar target tracking can be presented as combination of track ltering and association algorithm, where associationproblem is to determine validity of observation-to-track pairing. Track represents single real object buildas set of observations connected together using association process. To eliminate unlikely observation-to-trackpairings association algorithms employ gating techniques. Using track filtering results, a gate is formed, as aconstricted space around tracked object predicted position. This space is called tracking gate and all observationthat fall within the gate are considered for the track update. In this paper analysis of tracking gate shapeand behaviour is investigated, with association gates build using Kalman filtering and Mahalanobis distanceas a metric. Results are presented as graphical spatial imaging of tracking gates, for simulated tracking dataconsidering dierent manoeuvring scenarios and tracking filter parametrisation.