Constant-speed target tracking via bearings-only measurements

Author

Lévine, J. ; Marino, R.

Author_Institution

Ecole Nat. Superieure des Mines de Paris, Fontainebleau, France

Volume

28

Issue

1

fYear

1992

fDate

1/1/1992 12:00:00 AM

Firstpage

174

Lastpage

182

Abstract

The observability properties of the constant-speed target tracking problem via bearings-only measurements are investigated. It is shown that there exists a one-dimensional unobservable foliation which is computed. Explicit formulas are given to recover the observable part. It is shown that the direction of target trajectory is observable and that the whole state is observable if either the norm of the velocity or the distance is also known. A nonlinear observer which has a parallel structure and tolerates faults on distance measurements is presented. Finite-dimensional filters for the approximating models in the case of noisy measurements are given on the basis of output function polynomial approximations

Keywords

filtering and prediction theory; observability; polynomials; position measurement; signal processing; state estimation; tracking; approximating models; bearings-only measurements; constant-speed target tracking; distance measurements; finite dimensional filters; noisy measurements; nonlinear observer; observability; one-dimensional unobservable foliation; output function polynomial approximations; parallel structure; target trajectory; Acceleration; Antenna measurements; Art; Filtering; Filters; Goniometers; Observability; Switches; Target tracking; Velocity measurement;

fLanguage

English

Journal_Title

Aerospace and Electronic Systems, IEEE Transactions on

Publisher

ieee

ISSN

0018-9251

Type

jour

DOI

10.1109/7.135443

Filename

135443