Bearing Only Tracking Using Extended Kalman Filter

R A.RESHMA; ANOOJA S; DEEPA ELIZABETH GEORGE Student; Dept. of ECE; Toc H Institute of Science and Technology; Cochin; India Student; Dept. of ECE; Toc H Institute of Science and Technology; Cochin; India Associate Professor Dept. of ECE; Toc H Institute of Science and Technology; Cochin; India &nbsp;

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Bearing Only Tracking Using Extended Kalman Filter

R A.RESHMA, ANOOJA S, DEEPA ELIZABETH GEORGE Student, Dept. of ECE, Toc H Institute of Science and Technology, Cochin, India Student, Dept. of ECE, Toc H Institute of Science and Technology, Cochin, India Associate Professor Dept. of ECE, Toc H Institute of Science and Technology, Cochin, India  

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Abstract: Extended Kalman filter (EKF) is widely used for tracking moving objects like missiles, aircrafts, robots etc. In this paper we examine the case of a single sensor or observer bearing only tracking (BOT) problem for two different models. In model 1, the target is assumed to have a constant velocity and constant course. In model 2, the target is assumed to follow a coordinated turn model with constant velocity but varying course. Extended Kalman Filter is used to track the target in both cases. The goal of this paper is to demonstrate how the performance of the filter is affected by the initial assumptions and measurement error variances in these two models. Simulation results have been presented, which demonstrate the effect of initial assumptions and measurement error covariance on the performance of the filter.

Keywords: Extended kalman filter, Bearing only tracking, manoeuvring target, coordinated turn model

How to Cite:

[1] R A.RESHMA, ANOOJA S, DEEPA ELIZABETH GEORGE Student, Dept. of ECE, Toc H Institute of Science and Technology, Cochin, India Student, Dept. of ECE, Toc H Institute of Science and Technology, Cochin, India Associate Professor Dept. of ECE, Toc H Institute of Science and Technology, Cochin, India  , “Bearing Only Tracking Using Extended Kalman Filter,” International Journal of Advanced Research in Computer and Communication Engineering (IJARCCE)

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