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Using Kolmogorov-Smirnov Tests to Detect Track-Loss in the Absence of Truth Data.pdf

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Using Kolmogorov-Smirnov Tests to Detect Track-Loss in the Absence of Truth Data

Using Kolmogorov-Smirnov Tests to Detect Track-Loss in the Absence of Truth Data Richard M. Powers and Lucy Y. Pao1 Abstract— Of significant interest in the practical application of data association algorithms to target tracking in cluttered environments is how to determine track-loss in the absence of truth data. An approach is laid out for Kalman filter based data association algorithms where sample gated measurement count distributions are compared to theoretical measurement count distributions of the “tracking” or “track-lost” regimes to determine the regime of filter operation for single-target tracking applications. The comparisons are done via a pair of Kolmogorov-Smirnov tests. Among the advantages of this method are that confidence intervals are associated with the track regime tests, and that the number of samples required to discriminate between regimes can be determined adaptively. Simulation results for the method are provided. I. INTRODUCTION Real-world sensors often report more than one mea- surement that may be from a given target. These may either be measurements of the desired target or “clutter” measurements. Clutter refers to detections or returns from nearby objects, clouds, electromagnetic interference, acoustic anomalies, false alarms, etc. Due to measurement origin uncertainty, the estimate will eventually diverge from the true track in data association algorithms. Although there is a continuum of estimator behavior, the operation of these filters is often divided into two regimes, non-divergent (“tracking”) and divergent (“track-lost”). Typically the emphasis is more on detecting the transition between regimes (“track-loss”) than on defining the regimes. In simulation, two metrics that are commonly used to define the transition between these two regimes are [14]: 1) the normative distance of the estimate from the truth becoming repeatedly larger than some threshold, and 2) repeated failure of the truth measurement to “gate”. Gating is a comm