DocumentCode :
2437075
Title :
Covariance analysis using unbiased conversion and tracking filter design in local navigation frame
Author :
Kim, Byung-Doo ; Lee, Ja-Sung
Author_Institution :
ETRI, Daejeon
fYear :
2007
fDate :
17-20 Oct. 2007
Firstpage :
505
Lastpage :
510
Abstract :
Since the measurements of the ship-borne radar are correlated with the ship´s motion, the technique compensating ship´s motion should be considered in the tracking filter design. Recently, it was investigated that the tracking filter with ship´s motion compensation was designed using the covariance derived by the Taylor series first order approximation in the local navigation frame. In order to improve the consistency, the converted measurements and their covariance in the local navigation frame are derived by using the unbiased conversion in this paper. The consistency of the proposed method is verified via 1000 Monte-Carlo runs in terms of ANEES. Also, the tracking filter using the covariance and the converted measurements by the unbiased conversion is designed in local navigation frame. It is shown via 500 Monte-Carlo runs that the proposed tracking filter provides the improved tracking performance than the tracking filter using the covariance derived by Taylor series first order approximation.
Keywords :
approximation theory; covariance analysis; marine radar; motion compensation; radionavigation; series (mathematics); ships; tracking filters; Taylor series first order approximation; covariance analysis; ship motion compensation; ship-borne radar; tracking filter design; Coordinate measuring machines; Electronic mail; Filters; Motion compensation; Motion measurement; Navigation; Radar measurements; Radar tracking; Target tracking; Taylor series; Converted measurements; Motion compensation; Ship-borne radar; Tracking filter; Unbiased conversion;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Control, Automation and Systems, 2007. ICCAS '07. International Conference on
Conference_Location :
Seoul
Print_ISBN :
978-89-950038-6-2
Electronic_ISBN :
978-89-950038-6-2
Type :
conf
DOI :
10.1109/ICCAS.2007.4406962
Filename :
4406962
Link To Document :
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