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Content Provider | IET Digital Library |
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Author | Rahmanian, Shahabuddin Bateni, Mohammad Hossein Najafi, Majdeddin |
Abstract | Typical tracking systems employ tracking filters in order to consecutively estimate the kinematics of a moving object, based on some limited observations of its position and/or velocity which are contaminated by different types of uncertainties. The Kalman filter is the optimal filter for some simple cases. However, in practical scenarios, designing more complicated filters or making modifications to the Kalman filter may be necessary, in order to provide the tracking process with adequate reliability and accuracy. An appropriate design should consider the discipline under which measurements are gathered and the type of disturbances to which the measurement process is exposed. This study investigates the case of quantised, unreliable, asynchronous velocity and position measurements, and proposes an effective design which realises a distributed Kalman filter with two- or three-dimensional state vectors. It is shown via simulations that the proposed design not only smooths the output and combats the effects of quantisation but also keeps on tracking when the measurements are lost for a quite long duration of time. |
Starting Page | 979 |
Ending Page | 987 |
Page Count | 9 |
ISSN | 17518784 |
Volume Number | 12 |
e-ISSN | 17518792 |
Issue Number | Issue 9, Sep (2018) |
Alternate Webpage(s) | https://digital-library.theiet.org/content/journals/iet-rsn/12/9 |
Alternate Webpage(s) | https://digital-library.theiet.org/content/journals/10.1049/iet-rsn.2018.0072 |
Journal | IET Radar, Sonar & Navigation |
Publisher Date | 2018-05-18 |
Access Restriction | Open |
Rights Holder | © The Institution of Engineering and Technology |
Subject Keyword | Acceleration Asynchronous Velocity Asynchronous Velocity Measurement Complicated Filter Discrete Asynchronous Measurement Distributed Implementation Distributed Kalman Filter Filtering Method in Signal Processing Kalman Filter Kalman Object Tracker Measurement Process Moving Object Kinematics Object Tracking Optimal Filter Position Measurement Rotation Measurement Signal Processing Theory Spatial Variables Measurement Tracking Filter Tracking System Velocity Velocity Measurement |
Content Type | Text |
Resource Type | Article |
Subject | Electrical and Electronic Engineering |
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