Modified polar coordinates for ranging from Doppler and bearing measurements
- 24 March 2005
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 8, 907-910
- https://doi.org/10.1109/icassp.1983.1172139
Abstract
A novel set of coordinates for acoustic source location from doppler and bearing measurement histories is described. Simulation results for an Extended Kalman Filter (EKF) formulated in these new coordinates (modified polar) demonstrate accurate, consistent performance. Comparison with simulation results for an EKF formulated in Cartesian coordinates demonstrates that (i) modified polar coordinates provide a solution to a problem where Cartesian filters diverge, and (2) choice of coordinates for an EKF can strongly impact performance.Keywords
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