Closed-form steady-state bias error of tracking filter using coordinated turn model for constant velocity target

Abstract

This letter presents the derivation for the steady-state bias errors of a tracking filter using a coordinated turn (CT) model for tracking a target moving at a constant velocity as a tracking performance index of maneuvering target. The analysis of the tracking filter using the CT model indicates bias errors due to differences between the model-assumed motion (constant angular velocity) and target motion (constant velocity). We derive this bias error in the closed-form as expressed by the filter design parameters. Then, numerical simulations show that the derived bias errors are correct and can be efficiently used for filter design.