Evaluation of adaptive Kalman filtering methods for target tracking applications

Raol, JR and Girija, G (2001) Evaluation of adaptive Kalman filtering methods for target tracking applications. In: AIAA Guidance, Navigation, and Control Conference and Exhibit, 6-9 Aug 2001, Montreal, United States.

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Abstract

Four methods of process noise covariance tuning in a Kalman filter are evaluated. The methods studied are based on four approaches: a model based heuristic approach, a method based on a piecewise constant acceleration model, a suboptimal method based on optimization of the state estimation performance of the Kalman filter, and a covariance matching technique implemented using fuzzy logic. The methods are described in the order of increasing computational complexity. The performance of the Kalman filter incorporating the four methods for tuning is compared for simulated data of a target and real data of a typical launch vehicle. The tracking performance of all the methods is almost similar, and hence the choice of a method for a particular application would depend on the resources available. The algorithms are implemented in MATLAB on a Windows NT workstation.

Item Type: Conference or Workshop Item (Paper)
Uncontrolled Keywords: Adaptive filters;Kalman filters;Target tracking;Tuning; Launch vehicles;Performance assessment;Tracking filters;13; Noise reduction;Covariance;State estimation;Fuzzy logic;13; Heuristic methods
Subjects: AERONAUTICS > Aircraft Stability and Control
Division/Department: Flight Mechanics and Control Division, Flight Mechanics and Control Division
Depositing User: M/S ICAST NAL
Date Deposited: 07 Sep 2006
Last Modified: 24 May 2010 09:50
URI: http://nal-ir.nal.res.in/id/eprint/2636

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