New environmental dependent modeling with Gaussian particle filtering based implementation for ground vehicle tracking

This paper proposes a new domain knowledge aided Gaussian particle filtering based approach for the ground vehicle tracking application. Firstly, a new form of modeling is proposed to reflect the influences of different types of environmental domain knowledge on the vehicle dynamic: i) a non-Markov jump model is applied with multiple models while transition probabilities between models are environmental dependent ii) for a particular model, both the constraints and potential forces obtained from the surrounding environment have been applied to refine the vehicle state distribution. Based on the proposed modeling approach, a Gaussian particle filtering based method is developed to implement the related Bayesian inference for the target state estimation. Simulation studies from multiple Monte Carlo simulations confirm the advantages of the proposed method over traditional ones, from both the modeling and implementation aspects.