Comparative out-of-sequence estimation techniques for multi-sensor target tracking

Research output: Chapter in Book/Report/Conference proceedingConference contribution


In this paper, performance comparisons are carried out between two out-of-sequence estimation filtering techniques based on the principles of the Extended Kalman Filter (EKF) and the Sigma-point Kalman filter (SPKF), in a mobile platform tracking application where distributed radars are used to estimate both linear and highly nonlinear movements of an aircraft. Two scenarios were considered: 1) aircraft movements fit a white noise acceleration model; and 2) aircraft movement follows a coordinated turn model with unknown turn rate. In addition, we evaluate the individual performance of the out-of-order filters against the ideal cases obtained by running the EKF and SPKF with reordered measurements in a chronological sequence. Simulation results show that the algorithms used for dealing with outof-sequence measurements closely resemble the performance of the non-out-of-order filters. In terms of estimation accuracy, the out-of-order algorithm based on the SPKF outperforms the one based on the EKF when a highly nonlinear aircraft movement is observed. For nearly linear systems, there is not a significant difference between the two approaches.

Original languageEnglish (US)
Title of host publicationDynamic Modeling and Diagnostics in Biomedical Systems; Dynamics and Control of Wind Energy Systems; Vehicle Energy Management Optimization; Energy Storage, Optimization; Transportation and Grid Applications; Estimation and Identification Methods, Tracking, Detection, Alternative Propulsion Systems; Ground and Space Vehicle Dynamics; Intelligent Transportation Systems and Control; Energy Harvesting; Modeling and Control for Thermo-Fluid Applications, IC Engines, Manufacturing
PublisherAmerican Society of Mechanical Engineers
ISBN (Electronic)9780791846193
StatePublished - 2014
Externally publishedYes
EventASME 2014 Dynamic Systems and Control Conference, DSCC 2014 - San Antonio, United States
Duration: Oct 22 2014Oct 24 2014

Publication series

NameASME 2014 Dynamic Systems and Control Conference, DSCC 2014


ConferenceASME 2014 Dynamic Systems and Control Conference, DSCC 2014
Country/TerritoryUnited States
CitySan Antonio

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering


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