Bearing Only Tracking Using Extended Kalman Filter
نویسندگان
چکیده
Extended Kalman filter (EKF) is widely used for tracking moving objects like missiles, aircrafts, robots etc. In this paper we examine the case of a single sensor or observer bearing only tracking (BOT) problem for two different models. In model 1, the target is assumed to have a constant velocity and constant course. In model 2, the target is assumed to follow a coordinated turn model with constant velocity but varying course. Extended Kalman Filter is used to track the target in both cases. The goal of this paper is to demonstrate how the performance of the filter is affected by the initial assumptions and measurement error variances in these two models. Simulation results have been presented, which demonstrate the effect of initial assumptions and measurement error covariance on the performance of the filter.
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