Transactions of the Institute of Systems, Control and Information Engineers
Online ISSN : 2185-811X
Print ISSN : 1342-5668
ISSN-L : 1342-5668
Performance Analysis of Fixed-gain Moving Object Tracking Filter based on Fusion of Range/Acceleration Sensors
Kenshi SahoYusuke TakahashiMasao Masugi
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2017 Volume 30 Issue 4 Pages 135-142


This paper presents performance analysis of fixed-gain moving object tracking filters for sensing systems based on fusion of range/acceleration sensors (e.g., radars and accelerometers). We propose a new position(range)-acceleration-measured tracking filter whose number of fixed gains is six, and derive its performance indices. The effectiveness of the proposed filter is verified based on the analytical performance comparison with conventional α-β-γ filters whose number of gains is three. In addition, numerical simulations assuming a realistic 2-dimensional sensing situation show the accurate tracking by use of the proposed filter and the validity of the analysis results.

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© 2017 The Institute of Systems, Control and Information Engineers
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