A multiple-model tracker; e.g., the Gaussian Wavelet Estimator (GWE), employs a family of linear, local models to represent the motion of a maneuvering target over a range of operating modes. The state estimate generated by the GWE is a distribution with diffuse support. A road map provides contemporaneous, albeit circumscribed, information that can be integrated into the GWE to improve location estimation. However, fusing the inelastic restrictions of a road grid with the broad state estimates generated from conventional kinematic measurement requires considerable care. This paper presents a modified version of the GWE which integrates a map grid into the state estimate. The result is a state estimate consisting of a set of singular Gaussian sub-estimates It is shown by example that map-enhancement improves the accuracy of the location estimates and sharpens the calculated uncertainty region.
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