Detection des evolutions d'un mobile et estimation de sa cinematique par une methode de tests d'hypotheses

  • A. Lorenzi
  • C. Bozzo
Session 4 Detection Of Changes In Systems
Part of the Lecture Notes in Control and Information Sciences book series (LNCIS, volume 62)


The proposed method deals with the problem of detecting the evolutions of a mobile in motion (aircraft) on the basis of the general theory of significance tests (tests of BAYES, WALD).

The principle is as follows : several possible aircraft flight paths are continuously considered which correspond to different evolutions of the aircraft. Each path is represented as a model in a simple manner ; a 2nd order stationary filter allows the implementation to be performed in real time : considering that the evolutions are performed only at a maximum acceleration the filter is therefore submitted to an acceleration type control, the acceleration being then regarded as a white Gaussian noise with an average value, varying according to the evolution amplitude.

The different filters operate "in parallel" thanks to the measurements provided (Cartesian or polar coordinates). Each filter gives its own estimate of the target kinematics.

The proposed algorithm selects at every moment the estimate given by the filter whose model best corresponds to reality. Taking into account some probabilities of error, such a selection is carried out following a significance test designed on the basis of pseudo-innovations peculiar to each filter (such a test makes allowances for non-stationarities of the measurement noise).


Nous Avons Cart Type Vary Noise Statistics Target Kinematic Nous Remercions 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.


Theorie de L'Estimation et de la Commande

  1. [1]
    R.A. SINGER "Estimating Optimal Tracking Filter Performance For Manned Maneuvering Targets" I.E.E.E. Trans. A.E.S. — Vol 6 no4 — Juillet 1970Google Scholar
  2. [2]
    C. BOZZO Le filtrage optimal et ses applications aux problèmes de poursuite Technique et Documentation, Paris 1982Google Scholar
  3. [3]
    W.M. WONHAM Probabilistic methods in applied mathematics-BHARUCHA-REID (A.T) Vol. 2, Academic Press — New-York — 1970Google Scholar

Methodes d'Estimation Detection et Tests d'Hypotheses

  1. [4]
    A.S WILLSKY and H.L. JONES "A Generalized Likelikood Ratio Approach to State Estimation in Linear Systems Subject to Abrupt Changes". Report no 4SL.P.538 — M.I.T. Electronic Systems Laboratory Cambridge — MASS. 1974Google Scholar
  2. [5]
    C. DONCARLI, A. LORENZI "Un algorithme d'estimation — détection pour la poursuite de trajectoire" — Huitième collogue GRETSI, NICE, Juin 1981Google Scholar
  3. [6]
    A. WALD, J. WOLFOWITZ Optimum character of the sequential probability Radio Test. Annals of Mathematical Statistics — Vol.19, p. 326 (1948)Google Scholar
  4. [7]
    F.C. SCHWEPPE Evaluation of likelikood functions for guaussien signals I.E.E.E. Trans. Information Théory. Vol. I.T.II, pp. 61–70, January 1965.Google Scholar
  5. [8]
    KLEIN J.P., Iria "Détection de changement dans les caractéristiques d'un processus à représentation guaussienne markovienne" Thèse de Docteur-Ingénieur, Paris-Sud, 1973, 117 p.Google Scholar
  6. [9]
    B. DELLERY, A. LORENZI C. BOZZO, A. GUILBERT, A. HOULES, L. PASSERON "Caractérisation de trajectoires — Application à l'estimation et à la prédiction des éléments de cinématique d'un mobile manoeuvrant" Neuvième collogue GRETSI, NICE, Juin 1983Google Scholar

Methodes d'Estimation Bayesiennes

  1. [10]
    N.H. GHOLSON and R.L. MOOSE Manoeuvring target tracking using adaptative state estimation I.E.E. E Trans. an Aerospace and Electronic Systems — Vol. AES-13, no 3 May 1977Google Scholar
  2. [11]
    E. SIFFREDI "Poursuite d'un mobile par filtrage adaptatif": détermination de la position et du vecteur vitesse — DEA — Université d'Aix Marseille III Centre de St Jérôme 5 Octobre 1979Google Scholar
  3. [12]
    M. GAUVRIT "Performances des estimateurs bayesiens en boucle ouverte et Fermée. Dualité: Identification — Commande". Thèse d'Etat — Université Paul Sabatier Toulouse (Sciences) — 1982Google Scholar
  4. [13]
    D.L. ALSPACH "A parallel fittering Algorithm for Lineair Systems with unknown Time varying Noise Statistics" — I.E.E.E Trans an automatic control, p552–555, october 1974Google Scholar

Copyright information

© Springer-Verlag 1984

Authors and Affiliations

  • A. Lorenzi
    • 1
  • C. Bozzo
    • 1
  1. 1.Z.I. Sainte-ClaireCsee - CetiaValette du Var

Personalised recommendations