NDLI: Consistent linear tracker with position and range rate measurements

Content Provider	IEEE Xplore Digital Library
Author	Bordonaro, S.V. Willett, P. Bar-Shalom, Y.
Copyright Year	2012
Description	Author affiliation: Naval Undersea Warfare Center Newport, RI 02841, USA (Bordonaro, S.V.) \|\| Dept. of Electrical and Computer Engr., University of Connecticut, Storrs, 06269-2157, USA (Willett, P.; Bar-Shalom, Y.)
Abstract	In active sonar and radar applications measurements consist of range, bearing and often range rate. When tracking using range and bearing measurements only, the performance of a Converted Measurement Kalman Filter (CMFK) exceeds that of a mixed coordinate Extended Kalman Filter (EKF) if an unbiased conversion from polar to Cartesian coordinates is used. Performance is further enhanced if estimation bias is eliminated by evaluating the converted measurement error covariance using the state prediction. The extension of the CMKF to use range rate as a linear measurement is possible, but limited to cases with small bearing errors. The use of range rate as a nonlinear measurement requires the use of an EKF. Due to the poor performance of the EKF in some situations, various modifications have been proposed, including use of a pseudo measurement, an alternative linearization of the measurement prediction function, and sequentially processing the converted position and range rate measurements (applied to the EKF and the Unscented Kalman Filter). Common to these approaches is that the measurement prediction function remains nonlinear. The goal of this work is to develop a measurement conversion from range, bearing and range rate to Cartesian position and velocity that is unbiased and consistent. The approach is then applied to a CMKF with appropriate elimination of conversion bias and estimation bias. Performance is compared to the conventional EKF and the EKF with alternative linearization (AEKF).
Starting Page	880
Ending Page	884
File Size	314787
Page Count	5
File Format	PDF
ISBN	9781467350501
ISSN	10586393
e-ISBN	9781467350518
DOI	10.1109/ACSSC.2012.6489141
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-11-04
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Content Type	Text
Resource Type	Article
Subject	Signal Processing Computer Networks and Communications

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