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[9] J. P. Desai, J. P. Ostrowski, and V. Kumar, Modeling and control of

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Prentice-Hall, 1996.

Local Motion Feature Aided Ground Moving Target

Tracking With GMTI and HRR Measurements
Lang Hong, Ningzhou Cui, Mark Pronobis, and Stephen Scott
AbstractTracking ground moving targets with ground moving target
indicator (GMTI) measurements only could face a potential problem of
losing tracks or track mingling, if the targets move together within the
range of GMTI sensing uncertainty for an extended period of time. We propose a remedy for this problem by using local motion features extracted
from high resolution range (HRR) proles to assist data association. Unlike other HRR features, the new local motion features carry both spatial and temporal information and are ideal for feature aided tracking. A
probabilistic logic based tracker is developed for local motion feature aided
tracking.
Index TermsData association, feature aided target tracking, ground
moving target indicator (GMTI)/high resolution range (HRR) measurements, local motion features.

I. INTRODUCTION
The task of traditional target tracking is to establish target kinematic
trajectories from sequences of noisy kinematic measurements in the
presence of false alarms and countermeasures [1], [2]. Ground moving
target indicator (GMTI) radar has been a major sensor for air-to-ground
target tracking. However, difculty arises in traditional GMTI tracking
when target density becomes high and targets move together, which
could result in merged tracks and switched track identities (IDs). The
reason for this is that traditional tracking uses only the normalized distance between a measurement and the predicted target location to decide if the measurement was potentially originated from the target (this
is sometimes called data association), which could quickly lose its capability if targets stay together within the sensor uncertainty range for
an extended period of time. With the advance in sensor devices such
as synthetic aperture radar (SAR) and HRR [13], additional information regarding target identication becomes available, which could be
very valuable in helping data association. Feature aided tracking (FAT)
is a new research area and has been gaining a great deal of attention
in recent years due to its signicant advantage over traditional target
tracking, especially for stressing and complicated scenarios. Besides
the research done by the authors [3], [6], [7], references [5] and [12]
addressed mainly the aspect of feature extraction for tracking and [11]
dealt with mostly moving target classication. So far, the features used
in feature aided tracking are based purely on target spatial information
and no temporal correlation information is explored. However, since
features are extracted from a continuous string of signature signals from
the same targets moving over time, how a feature changes over time is a
feature itself which is called motion feature in this note. However, it
is very difcult, if not impossible, to characterize a motion feature with
respect to the free time variable in the kinematics space; some kind of
normalization approach is needed to bound the space of motion feature in order for it to be useful. To handle this difculty, we introduce
a concept of local motion and dene a local motion feature which is
well behaved in a normalized relative motion space. Instead of a time
Manuscript received October 1, 2003; revised February 24, 2004 and October
4, 2004. Recommended by Associate Editor J. Hespanha.
L. Hong and N. Cui are with the Department of Electrical Engineering, Wright State University, Dayton, OH 45435 USA (e-mail:
lhong@cs.wright.edu).
M. Pronobis and S. Scott are with the Information Directorate, Air Force Research Laboratory, Rome, NY 13441 USA.
Digital Object Identier 10.1109/TAC.2004.841119

0018-9286/$20.00 2005 IEEE

IEEE TRANSACTIONS ON AUTOMATIC CONTROL, VOL. 50, NO. 1, JANUARY 2005

128

Fig. 3. HRR prole is approximated by pseudo range energy bins and a center bin.

target identication. Both local motion features and GMTI measurements are fed into a probabilistic logic based tracker where the data
association weights are jointly determined by both kinematics and feature information. Signicant tracking performance improvement over
the traditional tracking for the stressing scenarios has been achieved.
This note serves as a rst step toward a new research paradigm of complete HRR/GMTI information exploitation for feature aided tracking.
II. HRR LOCAL MOTION FEATURE EXTRACTION
A. HRR Prole Formation

Fig. 1.

Example of HRR formation.

An HRR prole is an instant one-dimensional (1-D) target signature in the range domain, which describes the distribution of reected
signal energy at a particular viewing angle called the aspect angle (or
pose angle) and a xed depression angle, Fig. 1. Because of the well
studied phenomenon of electromagnetic wave reection, target structure information can be decoded from an HRR prole, which in turn
is connected to the target identication. Since an HRR is actually an
instant snapshot of a target, it is quite suitable to be used for moving
targets. Interested readers can refer to [13] for details on HRR.
B. Global and Local Motions of a Moving Rigid Target

Fig. 2.

Local and global motions, as well as corresponding HRR proles.

variable, an aspect angle is adopted as an independent variable for the

local motion feature, which makes local motion features trainable for

Since local motion plays a crucial role in this note, it is important

that the concept of global and local motions is clearly dened. Fig. 2
shows the motion pattern of a two-dimensional (2-D) rigid target. The
rigid target motion is composed of two kinds of motions: one is the motion of the pivoting center which is dened as global motion, and the
other is the rotational motion relative to the pivoting center which is
dened as local motion. Global motion is the same as point target motion which is widely used by the tracking community and local motion
is a new concept that we are introducing. Here, are some comments on
global and local motions: 1) global motion reects entire object motion
and carries no ID information, while local motion is encoded with object structural informationhow a group of prominent points moving
together; and 2) local motion modulates on global motion.
The challenge of using the local motion information of rigid targets
lies in the fact that only composite motion is measured by a sensor and

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IEEE TRANSACTIONS ON AUTOMATIC CONTROL, VOL. 50, NO. 1, JANUARY 2005

the decomposition of the composite motion into local and global motions is not unique. Extracting local information from 1D HRR proles is even harder. The next section will develop a method of deriving
local motion information from 1-D HRR proles.

ranges and the local ranges can be derived by removing the global
range which is the center bin range from the composite ranges. The
local ranges are

Ll

L

0 Lc

(4)

C. Local Motion From HRR

Fig. 2 also shows a mapping of a rigid target motion to a sequence
of 1-D HRR proles, where the trajectory of the sensor is known from
the on-board navigation instrument. In Fig. 2, for the purpose of better
understanding, it is assumed that the correspondence between the HRR
peaks and the vertices of the rigid target is known (the color labels of
the peaks in HRR proles match the color labels of the rigid target
vertices.)1 In a general case, this correspondence assumption is not
valid; therefore, the complete rotational information of the local motion
cannot be recovered from 1-D HRR proles. However, the local motion phenomenon still can be exhibited through the swinging of HRR
energy bins around the center bin. In the following, we will dene
HRR energy bins and center bin.2
HRR energy bins are nite number pseudo range bins which carry
the energy of the entire HRR prole and the center bin is the center of
the HRR prole. Fig. 3 shows an approximation of an HRR prole by
either one energy bin or by two energy bins. Note that unlike original
HRR discrete range bins, the pseudo range may be continuous. The
center bin can be determined by the alignment methods with the assistance from GMTI, or simply by mass center calculation. No matter
which method is used, as long as it is used consistently in both training
and testing processes, the net results would be similar. In this note, we
simply use the geometrical center of an HRR prole as the center bin,
which can be calculated by

Lc

lmax + lmin

(1)

where lmax is the farthest range bin containing signal energy and lmin
is the nearest range bin having signal energy. We now dene the pseudo
range energy bins for the prole taken at aspect angle  and depression
angle using the method of matching moment of inertia
N

L

i=1
N

li2 ai

j =1

(2)

aj

L1

i=1
N
j =1

li2 ai
and

aj

L2

L1l

0 Lc

L1

and L2l

0 Lc

L2

(5)

for a two energy bin approximation. The local range is a normalized

range which is independent of the distance between the sensor and
target and contains target structural information.
When targets move or the sensor travels (assume is xed during
motion), the local motion of HRR occurs, which can be obtained as
l
v

l
@L
@

and al =

l
@ 2 L
2
@ 

(6)

l and al are local range velocity and acceleration. Please

where v

note that the independent variable is  , not time, which makes the local
motion a trainable quantity. It is well known that the derivative operation is not a stable operation. In this note, we replace the derivative operation by highpass ltering using the wavelet transform. Fig. 4
demonstrates a wavelet lterbank implementation for the derivative
operations, where the quantity highpass ltered local range (fP ) is
l
and the quantity high-highpass ltered local range
equivalent to v
l
(fM ) is equivalent to a . The quantity lowpass ltered local range
l
(fL ) is a ltered version of L but is less uctuating. The details on
wavelet lterbank can be found in [4]. These three ltered quantities
will be used as what we called local motion features for our feature
aided tracking. Feature fL contains target spatial information and features fP and fM carry unique temporal domain information about how
local ranges changing over angles. The interested readers can refer to
[8][10] for the details on 1/3-rate and other wavelet transforms, as
well as related applications.

III. LOCAL MOTION FEATURE AIDED TARGET TRACKING

A. Feature Likelihood Calculation

where li is the ith range bin of the HRR prole, ai is the signal magnitude at the li range bin, and N is the total number of range bins containing signal energy. Equation (2) calculates a single pseudo range for
a one energy bin approximation as shown in Fig. 3. For a two energy
bin approximation, similar calculations can be carried out over odd and
even bin numbers of the prole, which are
N

for a one energy bin approximation, and

i=1
N
j =1

li2 ai

(3)

aj

A higher number energy bin approximation can also be dened similarly; but for feature aided tracking, one or two energy bin approximation is proven to be sufcient. The pseudo ranges are still composite
1We have proven that with the knowledge of correspondence, one can
completely reconstruct a three-dimensional (3-D) target structure and calculate
global and local motions from a sequence of 1-D HRR proles.
2Different denitions of HRR energy bins and center bin will end up with
different local motion features, but information contained in these local motion
features is essentially the same.

After extraction of local motion features from HRR proles, the remaining question is how to combine them with target kinematic behaviors for tracking. In our probabilistic logic based tracker, the combination is performed through their likelihood functions. This section
describes the likelihood calculation of local motion features.
Using the HRR training data set of N types of targets, the local motion feature trajectories over angles for N targets can be described by
f = [

T

; T ; . . . ; T

T1

; T2

(7)

; . . . ; Tn

(8)

and

Tj

fli (j ); fPi

((j )

(9)

where n is the number of angles in the trajectories, and superscript Ti

denotes type i. Index i is for target types (total N types) and index
j is for aspect angles, or pose angles. Note that for computational
efciency, only lowpass ltered local range feature fL and highpass
ltered local range feature fP are used in (9), since the high-highpass
ltered feature fM carries little information relatively. During a
tracking application, for an HRR prole of a target obtained at aspect
angle k , the local motion features z  = [zf ; zf ]0 are calculated in real-time based on three angles at consecutive time instants

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130

model and a nonlinear measurement model for range, range-rate and

angles. Thus, an extended Kalman lter (EKF) will be employed. Also,
t;i
t;i
^k01jk01 , Pk01jk01
assume that the tth estimated track is given by x
and the target type has been established as Ti with a probability ti
.
So, the following is a kinematics and target type maintenance algorithm.
1) Propagation: The propagation for track t at time k is given by
t;i
x
^ kjk01 =
t;i
kjk01 =

P
Fig. 4. Filterbank for lowpass ltered, highpass ltered, and high-highpass
ltered local ranges.

fk0 ; k0 ; k g using 1/3-rate

lterbank,3

as shown in Fig. 4. The

likelihood function for the local motion feature measurement z 
matching to a given type Ti can be calculated as
2

T
f z 


= exp

00:5 R0 
0

(10)

where  = z  0 T and T is the local motion features vector for
type Ti from the training data at the same angle index as the feature
measurement and R is a weighting matrix either derived from the
training process or provided by the user.

t
Zg =

l
zg

m
l=1

and Zt = z l

t;i
z kjk01 =
^

(11)

l=1

where mkt is the number of validated GMTI/HRR measurements of

target t. The total GMTI and HRR feature measurements at time k for
M targets are
M

Zg =

t=1

t
Zg

and Z =

t=1

t
Z

(12)

The total measurements at time k for all targets and the total cumulative
GMTI/HRR measurements up to time k are
M

Zk =

t=1

and Z k = fZl gkl=1 :

t
t
Zg Z

(13)

For convenience, the following joint tracking and identication event

is dened:
t
l = GMTI=HRR measurement pair

l
l
zg z

originated from target t

and the joint data association event is dened as
m

k =

l=1

t
l :

(14)

(15)

Assume at k 0 1, there are M targets and N target types and the

system is composed of a linear constant acceleration (CA) kinematic
3Note that in the lterbank, the independent variable is aspect angle, not time.

t 0
t
t t;i
St;i
k = Hk Pkjk0 Hk + Rk

and

(16)

(17)

where Fkt 01 is a CA kinematic matrix and Hkt is the Jacobian matrix for the nonlinear measurement model. Gating is performed for each track based on predicted measurements, z^t;i
kjk01 ,
t;i
and their error covariances, Sk .
2) Type probability update:

t
i = P
=

t k
Ti Z

c1
1

c1

t k
Ti Z 

=P

t k01
p Z T i ; Z 
P

t t
p Z T i  i

(18)

t k01
Ti Z 

(19)

p[Z Tit ] is further calculated as

t
p Z T i =

m
l=1

1
l
t
p z  Ti =
c2

m
l=1

l
T
f z 


(20)

where f (zl j T ) is the likelihood function in (10), and c1 and

c2 are normalizing factors.
3) Local motion feature aided data association: Since the type
of a track is assumed established, correlating local motion features, which are in pairs with kinematics measurements, to the
established type will increase the discrimination power in kinematics association. Multitarget data association is performed for
each track.
Following the notation from [1], a feasible event ik denes
an unambiguous data association situation as follows: a measurement can have only one source and no more than one measurement can originate from a target. With this denition, the
joint data association event given in (14) can be decomposed into
I
a set of feasible events fik gi=1 , where Ik is the total number
M
of feasible events which varies with time. Let ftT g
be a
t=1
set of events in which track t has been established with type
Tit 2 fT1 ; T2 ; . . . ; TN g. The probability for each feasible event
ik is given by
P

i k
k Z

i
k

T ;T ;...;T

Given all GMTI and HRR measurements, the track of target t with
its type being Ti is calculated by
t;i
t;i k
x
^ kjk = E xk Z

Hkt x^t;i
kjk0

The predicted kinematics measurements are obtained as

B. Algorithm of Local Motion Feature Aided Tracking

Let the collection of GMTI measurements falling into the validation
region of target t and the collection of the corresponding HRR local
motion features at time k be

Fkt 0 x^t;i
and
k0 jk0
t
t;i
Fk0 Pk0 jk0 Fkt 0 0 + Qkt 0

2P

t
T

M
t=1

T ;T ;...;T

P
t=1

t
T

t
T

t=1

;Z

jZ k

i
k

t
k
T Z

t=1

;Z

(21)

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IEEE TRANSACTIONS ON AUTOMATIC CONTROL, VOL. 50, NO. 1, JANUARY 2005

Fig. 5.

(Left) Estimated tracks using local motion feature aided tracking. (Right) Estimated tracks using traditional JPDA tracking.

where P fik jftT

ik

P
=

c3

c3

ik ;

ik

!
c03 V 
m
l=1

P j 3 I 0 W H P j 01
t;i
kk

M
t=1
t=1

M
t=1

jZ 0

M
t=1

; Z k01

; Z k01

N z lk : z^tkjk01 ; Skt

l=1

f z t jT

PDt

0 PDt 10

(22)

assuming that GMTI and HRR measurements are independent.4

t
In (22), PD
is the detection probability of target t,  is the
number of false measurements, l is a binary variable indicating
if GMTI measurement z lk is associated with a target in the event
ik , the binary variable t indicates if a measurement is associated with the target t, V is the volume of the surveillance
region, and c3 and c30 are the normalization constants. Therefore, data association probabilities lt , l = 1; 2; . . . ; mk , and
t = 1; 2; . . . ; M , can be calculated by

lt

P tl jZ k

P ik jZ k !^ lt

ik

(23)


t
i
where !
^ l (k ) is a matrix representation of a feasible event [1].
4) Track update: The track update is performed as
t;i
x^t;i
^
kjk = x
kjk01 +

and

Pj

t;i
kk

0t

t
k

m
l=1

lt lt

P j 01 0 0 P j 3
00
W
  
t;i
kk

t
k

l=1

(24)

t;i
kk

t
l

t
l

t
l

t
k

kt

t
k

t
k

t
k

t;i
kk

and kt

m
=

l=1

lt lt

(26)

is a Kalman gain and lt is an innovation of track t.

IV. SIMULATIONS

k 1

t
k

where

; Z k01 P ik j tT

tT

; Z k01

p Zg jik ; Z k01 p Z jik ; tT

Z

2P
=

t=1

;Z

where

p Zg jik ; tT

2p
=

tT

gMt=1 ; Z k g can be further expressed as

(25)

4Actually, GMTI measurements and HRR prole features are lightly coupled
through a complicated nonlinear function.

In this section, the effectiveness of local motion feature aided

tracking is studied. A confusing test scenario is designed, where
three targets approach each other, move closely and in parallel for
an extended period of time, and then cross and leave, as shown in
Fig. 5. Such a scenario will test the data association capability of
a tracker. After an extended period of parallel motion, a traditional
tracking algorithm has a difcult time separating tracks based only
on kinematic information. While using local motion features derived
from HRR proles, the feature aided tracker should be able to track
three targets separately. The MSTAR5 HRR data set is used in this
simulation. There are eleven types targets involved in the data and for
each target type there are two sets of data that were acquired by ying
a radar around the target (0  360 ) at 15 and 17 of depression
angles. We use 15 data set for training and 17 data set for testing.
In Fig. 5, targets for tracks 13 are types T1 , T11 and T3 targets. We
randomly attach HRR proles with type indexes from the set of [2 4 5
6 7 8 9 10] to false alarms.
The initial positions and velocities of the three targets are: [x10 =
2000 m, x
_ 10 = 15 m/s, y10 = 10 610 m, y
_ 10 = 03 m/s], [x20 =
_ 20 = 15 m/s, y20 = 10 300 m, y
_ 20 = 3 m/s] and [x30 =
2080 m, x
_ 30 = 15 m/s, y30 = 10 455 m, y
_ 30 = 0 m/s], and the
2040 m, x
GMTI/HRR sensor is located at [3500 m, 9000 m]. The maximum false
alarm density is 25 false alarms/scan/track and the sampling period is
T = 1 s. The GMTI sensing uncertainty is given by r = 10 m,
r_ = 0:1 m/s and  = 0:03 rad. The process modeling uncertainty
is specied by q = 1 m/s2 . The maneuvering behaviors of the targets
are described as follows: at t = 42 s, the velocities in y -coordinate
(y
_ ) of targets 1 and 2 become zero and resume 03 m/s and 3 m/s at
t = 140 s.
The results of local motion feature aided tracking using the two energy bin approximation are shown in Fig. 5 (left), where three tracks
are clearly separated during parallel and after cross motions. To quantify the results, the numerical results (RMS errors) of 50 Monte Carlo
simulations are listed in Table I, where the results of both local motion
5MSTAR, which is short for Moving and Stationary Target Acquisition and
Recognition, was a U.S. Defense Advanced Research Projects Agency program.

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132

TABLE I
RMS ERRORS OF LOCAL MOTION FEATURE AIDED TRACKING (LMFAT) AND JPDA (50 RUNS)

Fig. 6.

Target type probabilities.

V. CONCLUSION
TABLE II
COMPUTATIONAL COMPLEXITY COMPARISON OF LMFAT AND JPDA

feature aided tracking using one and two energy bin approximations
are shown. It can be seen that using the one range bin approximation
for HRR proles is sufcient enough for local motion feature aided
tracking. For comparison, Fig. 5 (right) shows the results of a traditional joint probabilistic data association (JPDA) tracker with using
kinematics information only. As expected, the tracks get switched at
the crossing point and the estimated track quality is degraded during
the parallel motion period. The RMS errors of the JPDA tracker are
also given in Table I for comparison.
To show how target ID information helps data association, we plot
target ID probabilities for tracks 13 in Fig. 6. It can be seen that the
target ID probabilities converge to around 0.9 quickly from the initial
number of 0.5, which explains why consistent ID information from
HRR proles could help data association in kinematic measurements.
It is expected that the performance improvement of local motion
feature aided tracker is achieved at a cost. Table II presents the CPU
times of each algorithm for one run (200 scans). It can be seen that the
LMFAT consumes about 80% more CPU time than the JPDA does.

Local motion features of a rigid moving target contain rich ID information and are very suitable for feature aided tracking. In this note, a
novel algorithm of local motion feature aided tracking is developed to
effectively combine information from both GMTI and HRR. The local
motion features of HRR proles capture essential structural information of specic targets over angles. These features are extracted by a
wavelet lterbank over a sliding window of length three. By combining
the local motion feature information with kinematics information, a
probabilistic logic based tracker is developed, which successfully separates the different tracks in a confusing scenario, as illustrated in the
simulations.
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[4] I. Daubechies, Orthonormal bases of compact supported wavelets,
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[6] B. Gu and L. Hong, Tracking 2-d rigid targets with invariant constraints, Inform. Sci., vol. 138, pp. 7997, 2001.
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