Gaussian Tracking With Kent-Distributed Direction-of-Arrival Measurements

Garcia-Fernandez, Angel ORCID: 0000-0002-6471-8455, Maskell, Simon ORCID: 0000-0003-1917-2913, Horridge, Paul and Ralph, Jason ORCID: 0000-0002-4946-9948
(2021) Gaussian Tracking With Kent-Distributed Direction-of-Arrival Measurements. IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY, 70 (7). pp. 7249-7254.

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This paper presents a Gaussian tracking algorithm with direction-of-arrival (DOA) measurements modelled via the Kent distribution. The key aspect of the algorithm is that the Kent distribution directly models the specific characteristics of DOA measurements in the 3-D space, and can account for different uncertainties in azimuth and elevation, which the von Mises-Fisher distribution cannot. At each update step, the algorithm performs iterated statistical linear regressions. We provide two implementations of the algorithms, one based on sigma-points and the other on analytical linearisation. The effectiveness of the approach is evaluated via numerical simulations.

Item Type: Article
Uncontrolled Keywords: Covariance matrices, Noise measurement, Density measurement, Azimuth, Taylor series, Kalman filters, Linear regression, Tracking, direction-of-arrival, Kent-distribution, posterior linearisation
Divisions: Faculty of Science and Engineering > School of Electrical Engineering, Electronics and Computer Science
Depositing User: Symplectic Admin
Date Deposited: 07 Jun 2021 15:18
Last Modified: 18 Jan 2023 22:35
DOI: 10.1109/TVT.2021.3086558
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