Evaluation of Converted Measurement - and Modified13; Extended - Kalman Filters for Target Tracking

Kashyap, SK and Girija, G and Raol, JR (2004) Evaluation of Converted Measurement - and Modified13; Extended - Kalman Filters for Target Tracking. Project Report. National Aerospace Laboratories, Bangalore, India.

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    Abstract

    In order to meet the goal of better tracking, selection of appropriate real time filter and modelling of disturbances like process and measurement noise becomes a necessicity for a filter designer. In report, two filter schemes are evaluated to handle the polar measurements using error model (for bias correction and measurement noise covariance computation). It is assumed that a good reference source of target information is available. Particularly, Error model based Converted Measurement Kalman filter (ECMKF) and Error model based Modified Extended Kalman filter (EMEKF) algorithms are evaluated. Also some comparison with CMKF (de-biased) is given. The results are presented for simulated data for target tracking. It is inferred that EMEKF gives better performance compared to other filters. Features of CMKF (de-biased), ECMKF, and EMEKF are brought out. Also the sensitivity study on the performance of EMEKF is done w.r.t to processing order of radar measurement

    Item Type: Proj.Doc/Technical Report (Project Report)
    Uncontrolled Keywords: Error Model, De-biased, Converted Measurement Kalman13; Filter (CMKF), Modified Extended Kalman Filter (MEKF)
    Subjects: AERONAUTICS > Aircraft Stability and Control
    Division/Department: Flight Mechanics and Control Division, Flight Mechanics and Control Division, Flight Mechanics and Control Division
    Depositing User: MS Jayashree S
    Date Deposited: 14 Jun 2006
    Last Modified: 24 May 2010 09:39
    URI: http://nal-ir.nal.res.in/id/eprint/574

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