Robust measurement validation for radar target tracking using prior information

Abstract

In this study, the authors propose a robust measurement validation algorithm for radar target tracking in a heavy-clutter environment. This algorithm defines the prior information with the radar measurement information from the estimated target trajectory. An additional validation gate is set up within the conventional validation gate using the statistics of the prior information then only a part of the validation measurement is selected to update the target state. To verify the effectiveness of the proposed algorithm, the authors designed a simulation for target tracking. The simulation results show that the proposed algorithm has a lower root mean squared position error compared to conventional algorithms in a heavy-clutter environment.