Target tracking in standoff jammer using unscented Kalman filter and particle fiter with negative information

To handle the problem of target tracking in the presence of standoff jamming (SOJ), a Gaussian sum unscented Kalman filter (GSUKF) and a Gaussian sum particle filter (GSPF) using negative information (scans or dwells with no measurements) are implemented separately in this paper. The Gaussian sum likelihood which is derived from a sensor model accounting for both the positive and the negative information is used. GSUKF is implemented by fusing the state estimate of two or three UKF filters with proper weights which are explicitly derived in this paper. Other than GSUKF, the Gaussian sum likelihood is directly used in the weight update of the GSPF. Their performances are evaluated by comparison with the Gaussian sum extended Kalman filter (GSEKF) implementation. Simulation results show that GSPF outperforms the other filters in terms of track loss and track accuracy at the cost of large computation complexity. GSUKF and GSEKF have comparable performance; the superiority of one over another is scenario dependent.