方位角情報のみに基づく適応追尾フィルタ

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タイトル別名
  • A Bearings-Only Adaptive Tracking Filter
  • ホウイカク ジョウホウ ノミ ニ キズク テキオウ ツイビ フィルタ

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This paper deals with the bearings-only target tracking problem. This estimation problem is not amenable to simple solution. First, an intrinsic system nonlinearity precludes the rigorous application of conventional linear analysis. Secondly, since only bearing measurements can be obtained, some of the states are not observable prior to an observer's maneuver. Thirdly, the performance of any bearings-only estimation technique is affected by the geometric characteristics and the relative motion of target and observer. When the extended Kalman filter is applied to this problem, it exhibits unstable behavior and often leads to solution divergence. To circumvent these difficulties, a Pseudo-Linear Filter (PLF) has been proposed. The PLF is simple to implement and provides stable and good estimates as long as the target velocity is constant. However, the PLF cannot track a maneuvering target. So, in this paper, an adaptive tracking filter which can track a maneuvering target is constructed by combining the PLF with the detection and estimation of abrupt changes. To examine the performance of the adaptive tracking filter, various target-observer geometry are simulated and the algorithm is implemented. A suboptimal control of the observer's maneuver to improve the estimation performance is also presented together with simulation results.

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