| 1. |
- Gustafsson, Fredrik, 1964-, et al.
(författare)
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Best Choice of Coordinate System for Tracking Coordinated Turns
- 1995
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Rapport (övrigt vetenskapligt/konstnärligt)abstract
- A standard approach to tracking is to use the extended Kalman filter (EKF) applied to a nonlinear state-space model. We compare two conceivable choices of state variables for modeling civil aircrafts. One where Cartesian velocities are used and one where absolute velocity and heading angle are used. In both choices, Cartesian coordinates are used for position and angular velocity for turning. It is shown that the latter state vector always performs better. This is proven by considering the linearization error made in the extended Kalman filter applied either to a time-continuous model or a discretized model. The result is supported by a Monte Carlo simulation study.
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| 2. |
- Isaksson, Alf, et al.
(författare)
-
Best Choice of Coordinate System for Tracking Coordinated Turns
- 1996
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Ingår i: Proceedings of 35th IEEE Conference on Decision and Control. - 0780335902 ; , s. 3145-3150 vol.3
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Konferensbidrag (refereegranskat)abstract
- A standard approach to tracking is to use the extended Kalman filter (EKF) applied to a nonlinear state-space model. We compare two conceivable choices of state variables for modeling civil aircrafts. One where Cartesian velocities are used and one where absolute velocity and heading angle are used. In both choices, Cartesian coordinates are used for position and angular velocity for turning. It is shown that the latter state vector always performs better. This is proven by considering the linearization error made in the extended Kalman filter applied either to a time-continuous model or a discretized model. The result is supported by a Monte Carlo simulation study.
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| 3. |
- Isaksson, Alf, et al.
(författare)
-
Comparison of some Kalman Filter based Methods for Maneuver Tracking and Detection
- 1995
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Ingår i: Proceedings of the 34th IEEE Conference on Decision and Control. - 0780326857 ; , s. 1525-1531 vol.2
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Konferensbidrag (refereegranskat)abstract
- This paper describes general modelling of radar target tracking scenarios. Manoeuvres are modelled using a stochastic continuous-time model. The goal of this paper is twofold: to compare two different choices of velocity coordinates, and to compare two different manoeuvre models leading to pruning and merging of the filter bank respectively. Simulation results indicate that velocity and heading should be used as states. Regarding merging and pruning there seems to be a trade-off between performance at the beginning of the turn and the steady-state accuracy.
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