Kalman filter for pointing deviation delay compensation in a TV tracker

Considering the pointing deviation delay in the TV tracker, which heavily worsens the tracking precision, here we offer an improved Kalman filter algorithm to compensate the delay. The output speed from the filter is fed forward to the speed loop for the compound control to increase the speed constant. The simulation results based on the experiment data show that the method can effectively estimate the position, consequently the speed and accelerate and the tracking precision is improved. The estimation precision of the speed and accelerate depend on that if the state model is coherent with the movement of the real target.