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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Chun Yang Blasch, E. Kadar, I. |
| Copyright Year | 2009 |
| Description | Author affiliation: Interlink Sciences Systems, Inc., Lake Success, NY 11042, USA (Kadar, I.) || Sigtem Technology, Inc., San Mateo, CA 94402, USA (Chun Yang) || Air Force Research Lab, WPAFB, OH 45433, USA (Blasch, E.) |
| Abstract | In target positioning and tracking, most sensors provide measurements either as range or bearing or both. The measurements are used to update an a priori estimate either via a linearized least squares method or an extended Kalman filter. In either case, the resulting solution has two components, one is related to the measurement prediction errors and the other is an observation matrix obtained from linearizing the nonlinear measurement equations around the a priori estimate. This paper studies the geometric factors explicitly and relates the observation matrix to the line of sight (LOS) vector for a ranging sensor and the direction perpendicular to the LOS vector of a bearing-only sensor. As a result, the updating of estimation error covariance with range and bearing measurements can be intuitively assessed via the shaping of estimation error ellipse along LOS directions. It provides a valuable means for target positioning and tracking performance modeling and prediction and can thus be used in active management of distributed sensor resources and sensor path planning. |
| Starting Page | 85 |
| Ending Page | 92 |
| File Size | 653078 |
| Page Count | 8 |
| File Format | |
| ISBN | 9780982443804 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2009-07-06 |
| Publisher Place | USA |
| Access Restriction | Subscribed |
| Rights Holder | ISIF |
| Subject Keyword | Target tracking Sensor phenomena and characterization Position measurement Covariance matrix Estimation error Acoustic sensors Pulse measurements Least squares methods Radar tracking Antenna measurements GDOP Ranging & Bearing-Only Sensors Geometry LOS |
| Content Type | Text |
| Resource Type | Article |
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