Transactions of the Institute of Systems, Control and Information Engineers
Online ISSN : 2185-811X
Print ISSN : 1342-5668
ISSN-L : 1342-5668
Tracking of a Maneuvering Target with Unknown Course and Speed Using Extended Kalman Filter
Akira OHSUMISeiichi YASUKIJunji HIRATAYbshihisa IJIRIYbshihisa NAGAYAMAHiroto SASAKI
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2001 Volume 14 Issue 10 Pages 490-498

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Abstract

In this paper, an effective tracking method for a maneuvering target moving at unknown variable speed on the 2-dimensional plane is proposed. First, dynamics are derived for the target which moves at variable speed by introducing the first-order dynamics for the target's jerk motion as a modified Singer model. Next, in order to get highly accurate tracking, the kinematic constraints are incorporated into measurement equation as pseudomeasurements. Based on the extended Kalman filter algorithm, the tracking filter is derived from the linear dynamics and the augmented nonlinear measurement equation. The efficacy of this method is shown by simulations using real data.

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