Error Model-converted Measurement and Error Model-modified Extended Kalman Filters for Target Tracking

  • S. K. Kashyap National Aerospace Laboratories, Bangalore
  • G. Girija National Aerospace Laboratories, Bangalore
  • J. R. Raol National Aerospace Laboratories, Bangalore
Keywords: Polar measurements, target tracking, radar measurements, Filter scheme, ECMKF, CMKF, EMEKF, algorithms, Kalman filter, target algorithms, Cartesian coordinate frames, polar frame

Abstract

Two-filter schemes have been evaluated to handle the polar measurements using error model
(for bias correction and measurement noise covariance computation) for target-tracking
application. It is assumed that a good reference source of target information is available.
Schemes based on error model converted measurement Kalman filter (ECMKF) and error model
modified extended-Kalman filter (EMEKF) algorithms are presented. Also some comparison with
CMKF (debiased) is given. It is inferred that EMEKF gives better performance compared to
other filters. Features of CMKF (debiased), ECMKF, and EMEKF are highlighted. Also the
sensitivity study on the performance of EMEKF is carried out wrt to processing order of radar
measurement channels.
Published
2006-11-01
How to Cite
KashyapS., GirijaG., & RaolJ. (2006). Error Model-converted Measurement and Error Model-modified Extended Kalman Filters for Target Tracking. Defence Science Journal, 56(5), 679-692. https://doi.org/10.14429/dsj.56.1932
Section
Aeronautical Systems