A Target Tracking Algorithm with Derivation Measurement

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  • Dai Yaping
    Department of Automatic Control, Beijing Institute of Technology
  • 平澤 宏太郎
    九州大学大学院システム情報科学研究科電気電子システム工学専攻
  • Zhen Liu
    Department of Earth Resources Engineering, Kyoto University

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  • Target Tracking Algorithm with Derivation Measurement

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In this paper a new observation model is presented to improve the state estimation and prediction in a target tracking problem. Comparing with conventional approaches, the following are distinguished points of the approach. First, the measurement equation is set up in the polar coordinate and even combines the derivation measurement with the usual position measurements ( i.e. there are 6 sensor data now: range, azimuth, elevation angle, range rate, azimuth rate, and elevation rate). Second,the observation noise of sensor data is considered as a colored one and be set up as the model of AR(1), and by means of a pseudo measurement model, the requirement of Kalman filter will be satisfied. As a result, the accuracy of both the observation and the prediction will be increased.

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