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Angle-only Filtering in 3D using Modified Spherical and Log Spherical Coordinates

Research output: Contribution in Book/Report/Proceedings - With ISBN/ISSN › Conference contribution/Paper › peer-review

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Angle-only Filtering in 3D using Modified Spherical and Log Spherical Coordinates. / Mallick, Mahendra; Mihaylova, Lyudmila; Arulampalam, Sanjeev et al.
Proceedings of the 14th International Conference on Information Fusion: ISIF. USA, 2011. p. 1905-1912.

Research output: Contribution in Book/Report/Proceedings - With ISBN/ISSN › Conference contribution/Paper › peer-review

Harvard

Mallick, M, Mihaylova, L, Arulampalam, S & Yan, Y 2011, Angle-only Filtering in 3D using Modified Spherical and Log Spherical Coordinates. in Proceedings of the 14th International Conference on Information Fusion: ISIF. USA, pp. 1905-1912. <http://www.fusion2011.org/>

APA

Mallick, M., Mihaylova, L., Arulampalam, S., & Yan, Y. (2011). Angle-only Filtering in 3D using Modified Spherical and Log Spherical Coordinates. In Proceedings of the 14th International Conference on Information Fusion: ISIF (pp. 1905-1912). http://www.fusion2011.org/

Vancouver

Mallick M, Mihaylova L, Arulampalam S, Yan Y. Angle-only Filtering in 3D using Modified Spherical and Log Spherical Coordinates. In Proceedings of the 14th International Conference on Information Fusion: ISIF. USA. 2011. p. 1905-1912

Author

Mallick, Mahendra ; Mihaylova, Lyudmila ; Arulampalam, Sanjeev et al. / Angle-only Filtering in 3D using Modified Spherical and Log Spherical Coordinates. Proceedings of the 14th International Conference on Information Fusion: ISIF. USA, 2011. pp. 1905-1912

Bibtex

@inproceedings{24e0cc3effad4ba3b64746d9e078f5c1,
title = "Angle-only Filtering in 3D using Modified Spherical and Log Spherical Coordinates",
abstract = "This paper considers the angle-only filtering problem in 3D using bearing and elevation angle measurements from a single maneuvering sensor. We develop continuous-discrete extended Kalman filter (EKF) based algorithms using modified spherical coordinates (MSC) and log spherical coordinates (LSC),where the dynamic and measurement models are described in continuous and discrete times, respectively. The predicted state estimate and covariance are calculated numerically by integrating a joint vector differential equation. Numerical results show that, while the discrete-time Cartesian EKF outperformsthe proposed algorithms for highly accurate measurements, the new algorithms show superior performance as the measurement accuracy decreases. EKF-MSC and EKF-LSC have comparable performance for the examples examined.",
author = "Mahendra Mallick and Lyudmila Mihaylova and Sanjeev Arulampalam and Yanjun Yan",
year = "2011",
language = "English",
pages = "1905--1912",
booktitle = "Proceedings of the 14th International Conference on Information Fusion",

}

RIS

TY - GEN

T1 - Angle-only Filtering in 3D using Modified Spherical and Log Spherical Coordinates

AU - Mallick, Mahendra

AU - Mihaylova, Lyudmila

AU - Arulampalam, Sanjeev

AU - Yan, Yanjun

PY - 2011

Y1 - 2011

N2 - This paper considers the angle-only filtering problem in 3D using bearing and elevation angle measurements from a single maneuvering sensor. We develop continuous-discrete extended Kalman filter (EKF) based algorithms using modified spherical coordinates (MSC) and log spherical coordinates (LSC),where the dynamic and measurement models are described in continuous and discrete times, respectively. The predicted state estimate and covariance are calculated numerically by integrating a joint vector differential equation. Numerical results show that, while the discrete-time Cartesian EKF outperformsthe proposed algorithms for highly accurate measurements, the new algorithms show superior performance as the measurement accuracy decreases. EKF-MSC and EKF-LSC have comparable performance for the examples examined.

AB - This paper considers the angle-only filtering problem in 3D using bearing and elevation angle measurements from a single maneuvering sensor. We develop continuous-discrete extended Kalman filter (EKF) based algorithms using modified spherical coordinates (MSC) and log spherical coordinates (LSC),where the dynamic and measurement models are described in continuous and discrete times, respectively. The predicted state estimate and covariance are calculated numerically by integrating a joint vector differential equation. Numerical results show that, while the discrete-time Cartesian EKF outperformsthe proposed algorithms for highly accurate measurements, the new algorithms show superior performance as the measurement accuracy decreases. EKF-MSC and EKF-LSC have comparable performance for the examples examined.

M3 - Conference contribution/Paper

SP - 1905

EP - 1912

BT - Proceedings of the 14th International Conference on Information Fusion

CY - USA

ER -