An IMM Filter Defined in the Linear-Circular Domain, Application to Maneuver Detection with Heading Only

<div>Experiment with real data showing the trajectory and the direction of a vehicle equipped with a heading sensor. The trajectory starts from the left side in (b). In area 1, transitions between <svg height="7.35473pt" id="M194" style="vertical-align:-0.3499303pt" version="1.1" viewbox="-0.0498162 -7.0048 15.471 7.35473" width="15.471pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M535 230V280H52V230H535Z"></path></g><g transform="matrix(.013,0,0,-0.013,7.631,0)"><path d="M574 449L545 460C526 432 516 430 487 430C404 430 311 435 226 435C104 435 56 379 25 341L43 318C81 354 121 372 181 372C161 246 87 53 23 3L30 -12C48 -12 88 -4 113 11C157 75 207 248 232 371L386 367L326 109C321 86 318 66 318 50C318 4 339 -12 366 -12C410 -12 461 21 505 69L492 96C467 79 434 60 418 60C406 60 400 78 411 147C422 217 439 300 457 366C487 366 524 367 536 370C547 385 558 408 574 449Z"></path></g></svg> and <svg height="6.1673pt" id="M195" style="vertical-align:-0.2063904pt" version="1.1" viewbox="-0.0498162 -5.96091 7.81142 6.1673" width="7.81142pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M574 449L545 460C526 432 516 430 487 430C404 430 311 435 226 435C104 435 56 379 25 341L43 318C81 354 121 372 181 372C161 246 87 53 23 3L30 -12C48 -12 88 -4 113 11C157 75 207 248 232 371L386 367L326 109C321 86 318 66 318 50C318 4 339 -12 366 -12C410 -12 461 21 505 69L492 96C467 79 434 60 418 60C406 60 400 78 411 147C422 217 439 300 457 366C487 366 524 367 536 370C547 385 558 408 574 449Z"></path></g></svg> are observed. (a) Direction of reference. (b) Trajectory of the vehicle.</div>

Mathematical Problems in Engineering

fig7

Figure 7

Figure 7: An IMM Filter Defined in the Linear-Circular Domain, Application to Maneuver Detection with Heading Only 