Enhanced Modified Polar Coordinates Filter Applied to Bearing Only Tracking


(*) Corresponding author


Authors' affiliations


DOI's assignment:
the author of the article can submit here a request for assignment of a DOI number to this resource!
Cost of the service: euros 10,00 (for a DOI)

Abstract


Two new algorithms are presented in this paper to solve the bearing only tracking problem, by using the recently proposed algorithms for nonlinear filtering, which are the Unscented Kalman Filter (UKF) and the Cubature Kalman Filter (CKF). These filters are used to solve the high intrinsic nonlinearity in the modified polar coordinates dynamic model. The resulting filters, named the Modified Polar Unscented Kalman Filter (MPUKF) and the Modified Polar Cubature Kalman Filter (MPCKF) are applied to the two dimensional bearing-only tracking problem. The estimation performance of these nonlinear filters is assessed by means of the root mean square error (RMSE). The simulation results show that these new filters are more efficient than other similar filters, such as the Modified Polar Extended Kalman Filter (MPEKF). Compared to this filter, the MPUKF and the MPCKF are, in particular, non-sensitive to the initial range and more stable, by using a dedicated initialization procedure, proposed in this paper.
Copyright © 2013 Praise Worthy Prize - All rights reserved.

Keywords


Bearing Only; Cubature Kalman Filter; Modified Polar; Kalman Filter; Unscented Transformation

Full Text:

PDF


References


Y. J. Zhang, G. Z. Xu, “Bearings-Only Target Motion Analysis via Instrumental Variable Estimation”, IEEE Transactions on Signal Processing, Vol. 58, pp 5523–5533, Nov. 2010.

F. Cazaurang, V. Morio, A. Falcoz, D. Henry, and A. Zolghadri. New model-based strategies for guidance and health monitoring of experimental reentry vehicles, (2008) International Review of Aerospace Engineering (IREASE, 1 (5), pp. 458–463.

Y. Bar-Shalom and X. Li, “Estimation and Tracking Principles, Techniques, and Software”, Artech House, Norwood, MA, USA, 1993.

V. J. Aidala and S. E. Hammel, “Utilization of Modified Polar Coordinates for Bearings-only Tracking”, IEEE Transactions on Automatic control, Vol. AC-28, No. 3, pp. 283–294, March 1983.

T. A. Song and J. L. Speyer, “A stochastic Analysis of a Modified Gain Extended Kalman Filter with Application to Estimation with Bearings-only Measurements”, IEEE Transactions on Automatic Control, Vol. AC-30, No. 10, pp. 940–949, Oct. 1985.

S.J. Julier, “A new method for the nonlinear transformation of means and covariances in filters and estimators”, IEEE Transactions on Automatic Control, Vol. 45, pp. 477–482, 2000.

A. Romanenko and J. A. A. M. Castro, “The unscented filter as an alternative to the EKF for nonlinear state estimation: a simulation case study”, Computers and Chemical Engineering, Vol. 28, pp. 347–355, 2004.

R. V. D Merwe, E. A. Wan and S. J. Julier, “Sigma-Point Kalman Filters for Nonlinear Estimation and Sensor-Fusion- Applications to Integrated Navigation”, AIAA Guidance, Navigation and Contol Conference, Providence, RI, Aug. 2004, AIAA-2004-5120.

I. Arasaratnam, “Cubature Kalman filtering: Theory and applications”, PhD, Dep. Elect. Comput. Eng., McMaster Univ., Ontario, Canada, 2009.

I. Arasaratnam and S. Haykin, “Cubature Kalman Filters”, IEEE Transaction on Automatic Control, vol. 54, pp. 1254–1269, June 2009.

S. Arulampalam, “A Comparison of Recursive Style Angle-only Target Motion Analysis Algorithms”, Technical repport, Electronics Research Lab, Salisbury (AUSTRALIA), Jan. 2000.

S. Julier, J. Uhlmann, and H. Durrant-Whyte, “A New Approach for Filtering Nonlinear Systems”, IEEE Proceedings of American Control Conference, Vol. 3, pp. 1628–1632, 1995.

T. L. Song and J. L. Speyer, “The modified gain extended Kalman filter and parameter identification in linear systems”, Automatica ,Vol. 22, Issue 1, pp. 59–75, January 1986.

S. K. Rao, “Modified gain extended Kalman filter with application to bearings-only passive manoeuvring target tracking”, IEE Proceedings on Radar, Sonar and Navigation, Vol. 152, pp. 239–244, 2005.

Ahmadreza Amirzadeh, Naser Pariz, Mahdi Ghadiri, An IMM Algorithm for Tracking a Maneuvering Target, (2011) International Review of Automatic Control (IREACO), 4 (5), pp. 798-806.

Ferdowsi, M.H., Passive range estimation using two and three optical cameras, (2013) International Review on Modelling and Simulations (IREMOS), 6 (2), pp. 613-618.

He, Z., Liu, G., Zhao, X., Wang, X., Zhang, B., Simplified cubature Kalman filter to improve initial alignment accuracy of a strapdown inertial navigation system (SINS) with large azimuth misalignment angle, (2012) International Review on Computers and Software (IRECOS), 7 (7), pp. 3646-3653.


Refbacks

  • There are currently no refbacks.


Please send any question about this web site to info@praiseworthyprize.com
Copyright © 2005-2024 Praise Worthy Prize