Two-Stage Alpha-Beta-Gamma Estimator For Tracking Maneuvering Targets

The two-stage Alpha-Beta-Gamma Estimator is proposed as an alternative to adaptive gain versions of the Alpha-Beta and Alpha-Beta-Gamma filters for tracking maneuvering targets. The purpose of this paper is to accomplish constant gain, variable dimension filtering with a two-stage Alpha-Beta-Gamma Estimator which is derived from a two-stage Kalman estimator. The noise variance reduction matrix and steady-state error covariance matrix are given as a function of the steady-state gains. A procedure for filter parameter selection is also given along with techniques for maneuver response and gain scheduled initialization.