Title :
Comparing of LPC-EKF, LPC-UKF in UUV bearings-only tracking systems
Author :
Xu, J. ; Ren, S. ; Feng, X. ; Lin, C.
Author_Institution :
State Key Lab. of Robot., Shenyang Inst. of Autom., Shenyang, China
Abstract :
Unmanned underwater vehicles have various missions within civilian, military and academic sectors. They have the ability to explore areas unavailable to manned assets and to perform duties that are risky to humans. In particular, UUVs have the ability to perform bearings-only tracking in shallow areas near shorelines. This article compares a Logarithmic Polar Coordinates EKF (LPC-EKF) and Logarithmic Polar UKF (LPC-UKF) for the estimation problem. Its objective is to track the kinematics (position, velocity and course) of a moving target using noise-corrupted bearing measurements.
Keywords :
Kalman filters; matrix algebra; nonlinear filters; remotely operated vehicles; tracking; underwater acoustic communication; underwater vehicles; LPC-EKF; LPC-UKF; UUV bearing-only tracking systems; estimation problem; extented Kalman filter; kinematic tracking; logarithmic polar UKF; logarithmic polar coordinate EKF; noise-corrupted bearing measurements; unmanned underwater vehicles; unscented Kalman filter; Covariance matrix; Equations; Estimation; Mathematical model; Target tracking; Trajectory; Vectors;
Conference_Titel :
OCEANS 2010 IEEE - Sydney
Conference_Location :
Sydney, NSW
Print_ISBN :
978-1-4244-5221-7
Electronic_ISBN :
978-1-4244-5222-4
DOI :
10.1109/OCEANSSYD.2010.5603831
