A Comparison of Bistatic Bearings-Only Tracking Methods

Target tracking using bistatic bearings-only measurements has obtained distinct interest recently. It is a nonlinear problem that traditional Kalman filter (KF) can not be applied directly. In this paper, the triangular ranging formula has been derived first for bistatic bearings-only tracking. The ranging error is then proved to be Gaussian noises, which enable the traditional KF applicable. The recently developed unscented Kalman filter (UKF) is also applied to the nonlinear measuring equation directly. To further improve the tracking accuracy especially in case of maneuvering target tracking, interactive multiple model (IMM) is adopted. Simulation results for both constant velocity moving target and maneuvering target are included to compare the performance of the aforementioned methods. The triangular ranging method, triangular-ranging-based Kalman filtering (TRKF), UKF, TR-IMMKF, and IMM-UKF are compared extensively using the criterion of root of the mean squared error (RMSE) and computational burden, as well as the robustness. Streszczenie. W artykule zaproponowano formułę o zasięgu trójkątnym w zastosowaniu do bistatycznego wyznaczania namiaru (pelengu). W rozwiązaniu wykorzystano m. In. filtr Kalman’a do pomiaru wielkości nieliniowych. Wyniki badań symulacyjnych, dla obiektów w ruchu jednostajnym lub zmiennym, pozwalają na porównanie działania metod. Porównano także metody TRKF, UKF, TR-IMMKF, IMM-UKF, pod względem błędów średniokwadratowych, odporności, złożoności obliczeń. (Porównanie bistatycznych metod wyznaczania namiaru kątowego).