Target Tracking Algorithm Based on Adaptive Strong Tracking Extended Kalman Filter

Abstract

Kalman filtering is a common filtering method for millimeter-wave traffic radars. The proposal is for an Adaptive Strong Tracking Extended Kalman Filter (EKF) algorithm that aims to address the issues of classic EKF’s low accuracy and lengthy convergence time. This method, which incorporates time-varying fading effects into the covariance matrix of the traditional EKF, is based on the ST algorithm. It allows the recalibration of the covariance matrix and precise filtering and state estimation of the target vehicle. By altering the fading and attenuating factors of the ST algorithm and using orthogonality principles, many fine-tuned fading factors produced from least-squares optimization are introduced together with regionally optimum attenuation factors. The results of Monte Carlo experiments indicate that the average velocity inaccuracy is reduced by at least 38% in comparison to existing counterparts. The results validate the efficacy of this methodology in observing vehicular movements in metropolitan regions, satisfying the prerequisites of millimeter-wave radar technology for traffic monitoring.