DocumentCode
1785992
Title
A modified extended Kalman filter for bearings-only tracking
Author
Ahmadian, A. ; Pezeshk, Amir M.
Author_Institution
Dept. of Electr. Eng., Sharif Univ. of Technol., Tehran, Iran
fYear
2014
fDate
20-22 May 2014
Firstpage
1712
Lastpage
1716
Abstract
In this paper a Modified Extended Kalman Filter (MEKF) for the problem of Bearings-Only Tracking (BOT) is proposed. The suggested filter takes into account the amount of nonlinearity introduced through bearing measurements and adjusts the estimated range. In addition, it adds sufficient stabilizing noise to the error covariance matrix to make the filter consistent. Simulation results demonstrate an obvious superiority in terms of precision over the standard Extended Kalman Filter (EKF) tracking scenarios.
Keywords
Kalman filters; covariance matrices; nonlinear filters; object tracking; BOT; EKF tracking; MEKF; bearing measurement; bearings-only tracking; error covariance matrix; modified extended Kalman filter; Covariance matrices; Equations; Kalman filters; Maximum likelihood detection; Standards; Target tracking; Vectors; Modified Extended Kalman Filter; Standard Extended Kalman Filter; maneuver; nonlinearity; target;
fLanguage
English
Publisher
ieee
Conference_Titel
Electrical Engineering (ICEE), 2014 22nd Iranian Conference on
Conference_Location
Tehran
Type
conf
DOI
10.1109/IranianCEE.2014.6999814
Filename
6999814
Link To Document