Validation of Radar Image Tracking Algorithms with Simulated Data

Abstract

Collision avoidance is one of the high‐level safety objectives and requires a complete and reliable description of the maritime traffic situation. The radar is specified by the IMO as the primary sensor for collision avoidance. In this paper we study the performance of multi‐target tracking based on radar imagery to refine the maritime traffic situation awareness. In order to achieve this we simulate synthetic radar images and evaluate the tracking performance of different Bayesian multi‐target trackers (MTTs), such as particle and JPDA filters. For the simulated tracks, the target state estimates in position, speed and course over ground will be compared to the reference data. The performance of the MTTs will be assessed via the OSPA metric by comparing the estimated multi‐object state vector to the reference. This approach allows a fair performance analysis of different tracking algorithms based on radar images for a simulated maritime scenario.