In some tracking applications, target states are subjected to a trajectory shape constraint, where only the trajectory shape is known a priori. By incorporating the trajectory shape constraint, the tracking performance can be improved. However, the existing state estimation methods with trajectory shape constraints are either of high computational load or of poor robustness due to the nature of the existing constraint models. In this study, in order to improve the robustness of the state estimation method with trajectory shape constraints, a generalised model for the trajectory shape constraint imposed by a straight trajectory is proposed. Three unknown general trajectory parameters of the trajectory are treated as states to be estimated along with the target state. Then, pseudo-measurements are constructed to incorporate the constraint information into estimators. For non-manoeuvring targets, a robust trajectory shape constraint filter is developed. The sequential measurement processing scheme is employed to reduce the computational load. A corresponding filter initialisation method is derived. While for manoeuvring targets, the proposed constraint filters are embedded into a conventional interacting multiple model estimator as sub-filters to handle the manoeuvring target tracking problem with a trajectory shape constraint. Monte-Carlo simulation results illustrate the effectiveness and robustness of the proposed algorithms.

中文翻译：

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具有轨迹形状约束的鲁棒状态估计

在一些跟踪应用中，目标状态受到轨迹形状约束，其中只有轨迹形状是先验的。通过合并轨迹形状约束，可以提高跟踪性能。然而，由于现有约束模型的性质，具有轨迹形状约束的现有状态估计方法要么计算量大，要么鲁棒性差。在这项研究中，为了提高具有轨迹形状约束的状态估计方法的鲁棒性，提出了由直线轨迹施加的轨迹形状约束的通用模型。轨迹的三个未知的一般轨迹参数被视为要与目标状态一起估计的状态。然后，伪测量被构造为将约束信息合并到估计器中。对于非机动目标，开发了鲁棒的轨迹形状约束滤波器。采用顺序测量处理方案来减少计算量。推导了相应的滤波器初始化方法。对于机动目标，提出的约束滤波器作为子滤波器嵌入到传统的交互多模型估计器中，以处理具有轨迹形状约束的机动目标跟踪问题。蒙特卡洛仿真结果说明了所提出算法的有效性和鲁棒性。采用顺序测量处理方案来减少计算量。推导了相应的滤波器初始化方法。对于机动目标，提出的约束滤波器作为子滤波器嵌入到传统的交互多模型估计器中，以处理具有轨迹形状约束的机动目标跟踪问题。蒙特卡洛仿真结果说明了所提出算法的有效性和鲁棒性。采用顺序测量处理方案以减少计算量。推导了相应的滤波器初始化方法。对于机动目标，提出的约束滤波器作为子滤波器嵌入到传统的交互多模型估计器中，以处理具有轨迹形状约束的机动目标跟踪问题。蒙特卡洛仿真结果说明了所提出算法的有效性和鲁棒性。