Tracking Filter with Motion Compensation for Ship-borne Radar

This paper presents a tracking filter with motion compensation for ship´s maneuver in a ship-borne radar tracking system. The ship´s maneuvers are described by displacement and rotational motions in the ship-centered east-north frame. The effect of the maneuver is compensated by incorporating the state displacements in the tracking filter and taking a coordinate transformation of the measurements using the information derived from the ship´s navigation system. The simulation results via 500 Monte-Carlo runs show that the proposed method follows the target successfully and provides consistent tracking performance during ship´s maneuvers while the conventional tracking filter without ship motion compensation fails to track during such periods