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Proceedings Paper

Best linear unbiased filtering for target tracking with spherical measurements
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Paper Abstract

In tracking applications, target dynamics is usually modeled in the Cartesian coordinates, while target measurements are directly available in the original sensor coordinates. Measurement conversion is widely used to do linearization such that the Kalman filter can be applied in the Cartesian coordinates. A number of improved measurement-conversion techniques have been proposed recently. However, they have fundamental limitations, resulting in performance degradation, as pointed out in Part III of a recent survey conducted by the authors. This paper proposes a recursive filter that is theoretically optimal in the sense of minimizing the mean-square error among all linear unbiased filters in the Cartesian coordinates. The proposed filter is free of the fundamental limitations of the measurement-conversion approach. Results of an approximate implementation for measurements in the spherical coordinates are compared with those obtained by two state-of-the-art conversion techniques. Simulation results are provided.

Paper Details

Date Published: 5 January 2004
PDF: 11 pages
Proc. SPIE 5204, Signal and Data Processing of Small Targets 2003, (5 January 2004); doi: 10.1117/12.511168
Show Author Affiliations
Zhanlue Zhao, Univ. of New Orleans (United States)
X. Rong Li, Univ. of New Orleans (United States)
Vesselin P. Jilkov, Univ. of New Orleans (United States)


Published in SPIE Proceedings Vol. 5204:
Signal and Data Processing of Small Targets 2003
Oliver E. Drummond, Editor(s)

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