This paper considers the classic problem of bearings-only target motion analysis. This has extensively been studied in the past and the novelty here is the use of the Unscented Kalman Filter (UKF) with the modified polar coordinates state representation. To take advantage of this filter, we keep the exact non linear plant equation of the model in the prediction stage with the coupling between the different state vector components. In this representation, the prediction equation is not straightforward, but the counterpart is a trivial measurement equation. We compare the performance, in terms of estimation rms (root mean square) error and bias, of this filter with the widely used Cartesian representation in which the plant equation is trivial and the non linearity is reported in the measurement equation. The Cramèr Rao Lower Bound is finally computed and helps as a reference.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Recursive Bearings-Only TMA via Unscented Kalman Filter: Cartesian vs. Modified Polar Coordinates


    Beteiligte:
    Laneuville, D. (Autor:in) / Jauffret, C. (Autor:in)

    Erschienen in:

    Erscheinungsdatum :

    01.03.2008


    Format / Umfang :

    2744335 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    Unscented Kalman Filter

    Zarchan, Paul / Musoff, Howard | AIAA | 2015



    Unscented Schmidt–Kalman Filter Algorithm

    Stauch, Jason / Jah, Moriba | AIAA | 2015