An Adaptive Two-Dimensional Kalman Tracking Filter
- 1 November 1980
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Transactions on Aerospace and Electronic Systems
- Vol. AES-16 (6) , 822-829
- https://doi.org/10.1109/taes.1980.309006
Abstract
A continuously adaptive two-dimensional Kalman tracking filter for a low data rate track-while-scan (TWS) operation is introduced which enhances the tracking of maneuvering targets. The track residuals in each coordinate, which are a measure of track quality, are sensed, normalized to unity variance, and then filtered in a single-pole filter. The magnitude Z of the output of this single-pole filter, when it exceeds a threshold Z1 is used to vary the maneuver noise spectral density q in the Kalman filter model in a continuous manner. This has the effect of increasing the tracking filter gains and containing the bias developed by the tracker due to the maneuvering target. The probability of maintaining track, with reasonably sized target gates, is thus increased, The operational characteristic of q versus Z assures that the tracker gains do not change unless there is high confidence that a maneuver is in progress.Keywords
This publication has 2 references indexed in Scilit:
- Analytical Results for the x, y Kalman Tracking FilterIEEE Transactions on Aerospace and Electronic Systems, 1974
- Optimum Steady-State Position and Velocity Estimation Using Noisy Sampled Position DataIEEE Transactions on Aerospace and Electronic Systems, 1973