Title :
Application of Kalman filter to bearing-only target tracking system
Author :
Cui, Shao-hui ; Zhu, Chang-qing
Author_Institution :
Shijia Zhuang Mech. Eng. Coll., China
Abstract :
With modified polar coordinates, a specific method to realize bearing-only target tracking by means of an extended Kalman filter is discussed in this paper. By using covariance square root filtering and fading memory filtering with variable coefficients, the problems of computation and filtering divergence may be overcome, and a stable and asymptotically unbiased estimation is obtained satisfactorily. A real time tracking processing is achieved using an 8098 single chip computer
Keywords :
Kalman filters; covariance matrices; direction-of-arrival estimation; military systems; nonlinear filters; target tracking; tracking; 8098 single chip computer; bearing-only target tracking; computation; covariance square root filtering; extended Kalman filter; fading memory filtering; filtering divergence; modified polar coordinates; real time tracking processing; stable asymptotically unbiased estimation; variable coefficients; Educational institutions; Fading; Filtering; Mathematical model; Military computing; Optical computing; Optical filters; Sonar; State estimation; Target tracking;
Conference_Titel :
Signal Processing, 1996., 3rd International Conference on
Conference_Location :
Beijing
Print_ISBN :
0-7803-2912-0
DOI :
10.1109/ICSIGP.1996.571258
