On state estimation and fusion with elliptical constraints

Qiang Liu; Nageswara S.V. Rao

doi:10.1109/MFI.2017.8170411

On state estimation and fusion with elliptical constraints

Qiang Liu, Nageswara S.V. Rao

Autonomous and Complex Systems

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

3 Scopus citations

Abstract

We consider tracking of a target with elliptical nonlinear constraints on its motion dynamics. The state estimates are generated by sensors and sent over long-haul links to a remote fusion center for fusion. We show that the constraints can be projected onto the known ellipse and hence incorporated into the estimation and fusion process. In particular, two methods based on (i) direct connection to the center, and (ii) shortest distance to the ellipse are discussed. A tracking example is used to illustrate the tracking performance using projection-based methods with various fusers in a lossy long-haul tracking environment.

Original language	English
Title of host publication	MFI 2017 - 2017 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	85-90
Number of pages	6
ISBN (Electronic)	9781509060641
DOIs	https://doi.org/10.1109/MFI.2017.8170411
State	Published - Dec 7 2017
Event	13th IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, MFI 2017 - Daegu, Korea, Republic of Duration: Nov 16 2017 → Nov 18 2017

Publication series

Name	IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems
Volume	2017-November

Conference

Conference	13th IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, MFI 2017
Country/Territory	Korea, Republic of
City	Daegu
Period	11/16/17 → 11/18/17

Funding

This work is funded by the Mathematics of Complex, Distributed, Interconnected Systems Program, Office of Advanced Computing Research, U.S. Department of Energy, and SensorNet Project of Office of Naval Research, and is performed at Oak Ridge National Laboratory managed by UT-Battelle, LLC for U.S. Department of Energy under Contract No. DE-AC05-00OR22725.

Keywords

Elliptical track constraints
Error covariance matrices
Long-haul sensor networks
Nonlinear constraints
Projection
Root-mean-square-error (RMSE) performance
State estimate fusion

Access to Document

10.1109/MFI.2017.8170411

Cite this

Liu, Q., & Rao, N. S. V. (2017). On state estimation and fusion with elliptical constraints. In MFI 2017 - 2017 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (pp. 85-90). (IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems; Vol. 2017-November). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/MFI.2017.8170411

Liu, Qiang ; Rao, Nageswara S.V. / On state estimation and fusion with elliptical constraints. MFI 2017 - 2017 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems. Institute of Electrical and Electronics Engineers Inc., 2017. pp. 85-90 (IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems).

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title = "On state estimation and fusion with elliptical constraints",

abstract = "We consider tracking of a target with elliptical nonlinear constraints on its motion dynamics. The state estimates are generated by sensors and sent over long-haul links to a remote fusion center for fusion. We show that the constraints can be projected onto the known ellipse and hence incorporated into the estimation and fusion process. In particular, two methods based on (i) direct connection to the center, and (ii) shortest distance to the ellipse are discussed. A tracking example is used to illustrate the tracking performance using projection-based methods with various fusers in a lossy long-haul tracking environment.",

keywords = "Elliptical track constraints, Error covariance matrices, Long-haul sensor networks, Nonlinear constraints, Projection, Root-mean-square-error (RMSE) performance, State estimate fusion",

author = "Qiang Liu and Rao, {Nageswara S.V.}",

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Liu, Q & Rao, NSV 2017, On state estimation and fusion with elliptical constraints. in MFI 2017 - 2017 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems. IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, vol. 2017-November, Institute of Electrical and Electronics Engineers Inc., pp. 85-90, 13th IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, MFI 2017, Daegu, Korea, Republic of, 11/16/17. https://doi.org/10.1109/MFI.2017.8170411

On state estimation and fusion with elliptical constraints. / Liu, Qiang; Rao, Nageswara S.V.
MFI 2017 - 2017 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems. Institute of Electrical and Electronics Engineers Inc., 2017. p. 85-90 (IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems; Vol. 2017-November).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AB - We consider tracking of a target with elliptical nonlinear constraints on its motion dynamics. The state estimates are generated by sensors and sent over long-haul links to a remote fusion center for fusion. We show that the constraints can be projected onto the known ellipse and hence incorporated into the estimation and fusion process. In particular, two methods based on (i) direct connection to the center, and (ii) shortest distance to the ellipse are discussed. A tracking example is used to illustrate the tracking performance using projection-based methods with various fusers in a lossy long-haul tracking environment.

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Liu Q, Rao NSV. On state estimation and fusion with elliptical constraints. In MFI 2017 - 2017 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems. Institute of Electrical and Electronics Engineers Inc. 2017. p. 85-90. (IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems). doi: 10.1109/MFI.2017.8170411

On state estimation and fusion with elliptical constraints

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