作者
Jun Ye Yu, Mark J Coates, Michael G Rabbat, Stephane Blouin
发表日期
2016/1/14
期刊
IEEE Signal Processing Letters
卷号
23
期号
3
页码范围
326-330
出版商
IEEE
简介
We present a distributed particle filter for bearings-only tracking of a target moving on the surface of a sphere, such as Earth. The proposed filter accounts for the curvature of the surface in the measurement model for more robust performance. In addition, a linearization of the likelihood function significantly reduces the communication overhead. Simulations demonstrate that the proposed distributed approach maintains accuracy comparable to that of a centralized filter with access to all measurements even when the sensors and target are spread over a large region, where a planar approximation would fail.
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