Multiple-Model Probability Hypothesis Density Filter for Tracking Maneuvering Targets

Tracking multiple targets with uncertain target dynamics is a difficult problem, especially with nonlinear state and/or measurement equations. With multiple targets, representing the full posterior distribution over target states is not practical. The problem becomes even more complicated when the number of targets varies, in which case the dimensionality of the state space itself becomes a discrete random variable. The probability hypothesis density (PHD) filter, which propagates only the first-order statistical moment (the PHD) of the full target posterior, has been shown to be a computationally efficient solution to multitarget tracking problems with a varying number of targets. The integral of PHD in any region of the state space gives the expected number of targets in that region. With maneuvering targets, detecting and tracking the changes in the target motion model also become important. The target dynamic model uncertainty can be resolved by assuming multiple models for possible motion modes and then combining the mode-dependent estimates in a manner similar to the one used in the interacting multiple model (IMM) estimator. This paper propose a multiple-model implementation of the PHD filter, which approximates the PHD by a set of weighted random samples propagated over time using sequential Monte Carlo (SMC) methods. The resulting filter can handle nonlinear, non-Gaussian dynamics with uncertain model parameters in multisensor-multitarget tracking scenarios. Simulation results are presented to show the effectiveness of the proposed filter over single-model PHD filters.     

EM-ML algorithm for track initialization using possibly noninformative data

Initializing and maintaining a track for a low observable (LO) (low SNR, low target detection probability and high false alarm rate) target can be very challenging because of the low information content of measurements. In addition, in some scenarios, target-originated measurements might not be present in many consecutive scans because of mispointing, target maneuvers, or erroneous preprocessing. That is, one might have a set of noninformative scans that could result in poor track initialization and maintenance. In this paper an algorithm based on the expectation-maximization (EM) algorithm combined with maximum likelihood (ML) estimation is presented for tracking slowly maneuvering targets in heavy clutter and possibly noninformative scans. The adaptive sliding-window EM-ML approach, which operates in batch mode, tries to reject or weight down noninformative scans using the Q-function in the M-step of the EM algorithm. It is shown that target features in the form of, for example, amplitude information (AI), can also be used to improve the estimates. In addition, performance bounds based on the supplemented EM (SEM) technique are also presented. The effectiveness of new algorithm is first demonstrated on a 78-frame long wave infrared (LWIR) data sequence consisting of an Fl Mirage fighter jet in heavy clutter. Previously, this scenario has been used as a benchmark for evaluating the performance of other track initialization algorithms. The new EM-ML estimator confirms the track by frame 20 while the ML-PDA (maximum likelihood estimator combined with probabilistic data association) algorithm, the IMM-MHT (interacting multiple model estimator combined with multiple hypothesis tracking) and the EVIM-PDA estimator previously required 28, 38, and 39 frames, respectively. The benefits of the new algorithm in terms of accuracy, early detection, and computational load are illustrated using simulated scenarios as well.     

Equatorial secondary cosmic ray observatory to study space weather and terrestrial events

Recently, equatorial secondary cosmic ray observatory has been established at Equatorial Geophysical Research Laboratory (EGRL), Tirunelveli, (Geographic Coordinates: 8.71°N, 77.76°E), to study secondary cosmic rays (SCR) produced due to the interaction of primary cosmic rays with the Earth’s atmosphere. EGRL is a regional center of Indian Institute of Geomagnetism (IIG), located near the equator in the Southern part of India. Two NaI(Tl) scintillation detectors are installed inside the temperature controlled environment. One detector is cylindrical in shape of size 7.62?cm?×?7.62?cm and another one is rectangular cuboid of 10.16?cm?×?10.16?cm?×?40.64?cm size. Besides NaI(Tl) detectors, various other research facilities such as the Geomagnetic observatory, Medium Frequency Radar System, Digital Ionosonde, All-sky airglow imager, Atmospheric electricity laboratory to measure the near-Earth atmospheric electric fields are also available at EGRL. With the accessibility of multi- instrument facilities, the objective is set to understand the relationship between SCR and various atmospheric and ionospheric processes, during space weather and terrestrial events.For gamma-ray spectroscopy, it is important to test the performance of the NaI(Tl) scintillation detectors and to calibrate the gamma-ray spectrum in terms of energy. The present article describes the details of the experimental setup installed near the equator to study cosmic rays, along with the performance testing and calibration of the detectors under various conditions. A systematic shift in the gain is observed with varying temperature of the detector system. It is found that the detector’s response to the variations in the temperature is not just linear or non-linear type, but it depends on the history of the variation, indicating temperature hysteresis effects on NaI detector and PMT system. This signifies the importance of isothermal environment while studying SCR flux using NaI(Tl) detectors, especially for the experiments conducted during daytime such as solar eclipses etc.     

Bootstrap Algorithms for Parameter and Smoothing State Estimation

Two-stage bootstrap algorithms for simultaneous smoothing state and parameter estimation of linear dynamical system are developed. Cases of both fixed point and fixed lag smoothing have been considered. Simulation results pertaining to a satellite tracking system are presented for illustration.     

Radar measurement extraction in the presence of sea-surface multipath

In the presence of sea-surface multipath monopulse radar signals from a low elevation target have three alternative paths in addition to the direct (radar-to-target) path due to reflections from the sea surface. The specular reflection causes significant signal fading. The diffuse reflection causes an approximately constant bias to the in-phase component of the monopulse ratio, which is the standard extractor of the direction of arrival (DOA) in the monopulse processing. The diffuse reflection also causes higher standard deviation to the in-phase component of the monopulse ratio. We propose a maximum likelihood (ML) angle extraction technique for low elevation targets of known average signal strength having a Rayleigh fluctuation. The results show that this method reduces the error of the estimated angle compared with the conventional monopulse ratio estimator. Subsequently, the ML angle extractor is modified for the unknown average signal strength case. This modified angle extractor has only a small performance degradation compared with the known average signal strength case, but it performs much better than the monopulse ratio based estimator. An algorithm to calculate the accuracy of the estimated angle (or height) is also presented. This angle extractor reduces the root-mean-square error (RMSE) by more than 50% in the signal processing stage when used in a low flying target tracking scenario. The same algorithm can be used to track sea skimmers.     

Digital control algorithms for multi-degree-of-freedom microgravity isolation systems

Two general methodologies have been developed to design digital controllers for multi-degree-of-freedom microgravity isolation systems such that the desired transmissibility matrix is achieved. The absolute accelerations and relative displacements are used as feedback signals. Absolute acceleration signals are used to provide proportional damping in the system whereas relative displacement signals are used to achieve the desired transmissibility. In the first method, the closed-form expression of the controller transfer function metrix for the relative displacement feedback is obtained directly in the Z-domain. The controller transfer function matrix is first obtained in the S-domain and then discretized in the second method. The discrete-time controller transfer function matrices and numerical results are presented for a three-degree-of-freedom system with attractive electromagnetic actuators.     

Lunar gravity field modeling critical analysis and challenges

This paper summarizes and provides a critical analysis of the historical developments of lunar gravitational models from the earliest use of ground based tracking systems of the Lunar Orbiter to the Lunar Prospector mission. This encompasses a comprehensive and critical analysis of the various methods used in the estimation of the gravity coefficients and the processing of large batches of diverse measurements and data types. It has been shown that weakness exists in the current models of the lunar gravity field, which is primarily due to the lack of far side lunar tracking data information, which makes the lunar potential modeling difficult but expected to be overcome as data from SELENE satellite-to-satellite tracking becomes available. Comparisons of various lunar models reveal an agreement in the low order coefficients of the spherical harmonics. However, substantial differences in the models exist in the higher-order harmonics. A numerical comparison has been presented showing the performance of all the contemporary lunar gravitational models used within the astrodynamics community and available in public domain. Improvements to the current models are part of a continuing process and the recent model improvements and future possibilities in lunar gravity modeling are discussed. A brief review of the recent missions has been presented. It is hoped that this critical review will benefit the researchers by presenting the historical as well as state of the art in this field.     

Superbursts and long bursts as surface phenomenon of compact objects

We suggest that superbursts from some low mass X-ray binaries may be due to breaking and re-formation of diquark pairs, on the surface of realistic strange stars. Diquarks are expected to break up due to the explosion and shock of the thermonuclear process. After a prolonged accretion when almost all pairs get broken, the subsequent production of copious diquarks may produce sufficient energy to produce the superbursts.     

Simulation of X-ray and gamma ray detector response and spectral deconvolution

A detailed Monte-Carlo code has been developed from basic principles that simulates the responses of high energy photon detectors to incident beams of photons. The detector response matrice (DRM)s are calculated using this code. Deconvolution of an artificially generated spectrum is presented.