TRACKING A TARGET MOVING BETWEEN STATES IN AN ENVIRONMENT

摘要

An apparatus is provided for tracking a target moving between states using an iterative process. The apparatus receives sensor data for a current state i, and applies a cubature information filter and an H-infinity filter thereto to respectively produce an estimate for the upcoming state i+1 and a measure of error thereof, and adjust the measure of error. The apparatus then defines a consensus estimate of the upcoming state i+1 and a consensus adjusted measure of error thereof from the estimate and adjusted measure of error, and a second estimate and second adjusted measure of error that is received from at least one second apparatus tracking the target. The apparatus then applies a cubature information filter to the consensus estimate of the upcoming state i+1 and the consensus adjusted measure of error to predict the upcoming state i+1.