Best Choice of Coordinate System for Tracking Coordinated Turns
1996 (English)In: Proceedings of 35th IEEE Conference on Decision and Control, 1996, 3145-3150 vol.3 p.Conference paper (Refereed)
A standard approach to tracking is to use the extended Kalman filter (EKF) applied to a nonlinear state-space model. We compare two conceivable choices of state variables for modeling civil aircrafts. One where Cartesian velocities are used and one where absolute velocity and heading angle are used. In both choices, Cartesian coordinates are used for position and angular velocity for turning. It is shown that the latter state vector always performs better. This is proven by considering the linearization error made in the extended Kalman filter applied either to a time-continuous model or a discretized model. The result is supported by a Monte Carlo simulation study.
Place, publisher, year, edition, pages
1996. 3145-3150 vol.3 p.
Kalmar filters, Monte Carlo methods, Aircraft, Nonlinear, Radar tracking
IdentifiersURN: urn:nbn:se:liu:diva-93773DOI: 10.1109/CDC.1996.573612ISBN: 0-7803-3590-2OAI: oai:DiVA.org:liu-93773DiVA: diva2:628860
35th IEEE Conference on Decision and Control, Kobe, Japan, December, 1996