Parallelization of a large-scale IMM-based multitarget tracking algorithm

Robert L. Popp; Krishna R. Pattipati; Yaakov Bar-Shalom

doi:10.1117/12.217711

1 September 1995 Parallelization of a large-scale IMM-based multitarget tracking algorithm

Robert L. Popp, Krishna R. Pattipati, Yaakov Bar-Shalom

Proceedings Volume 2561, Signal and Data Processing of Small Targets 1995; (1995) https://doi.org/10.1117/12.217711
Event: SPIE's 1995 International Symposium on Optical Science, Engineering, and Instrumentation, 1995, San Diego, CA, United States

Abstract

The Interacting Multiple Model (IMM) estimator has been shown to be superior, in terms of tracking accuracy, to a well-tuned Kalman filter when applied to tracking maneuvering targets. However, because of the increasing number of filter modules necessary to cover the possible target maneuvers, the IMM estimator also imposes an additional computational burden. Hence, in an effort to design a real-time IMM-based multitarget tracking algorithm that is independent of the number of modules used in the IMM estimator, we propose a `coarse- grained' (dynamic) parallel implementation that is superior, in terms of computational performance, to previous `fine-grained' (static) parallelizations of the IMM estimator. In addition to having the potential of realizing superlinear speedups, the proposed implementation scales to larger multiprocessor systems and is robust. We demonstrate the performance results both analytically and using a measurement database from two FAA air traffic control radars.

Citation Download Citation

Robert L. Popp, Krishna R. Pattipati, and Yaakov Bar-Shalom "Parallelization of a large-scale IMM-based multitarget tracking algorithm", Proc. SPIE 2561, Signal and Data Processing of Small Targets 1995, (1 September 1995); https://doi.org/10.1117/12.217711

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