Research output: Contribution in Book/Report/Proceedings - With ISBN/ISSN › Conference contribution/Paper › peer-review
Research output: Contribution in Book/Report/Proceedings - With ISBN/ISSN › Conference contribution/Paper › peer-review
}
TY - GEN
T1 - Comparison of Angle-only Filtering Algorithms in 3D using Cartesian and Modified Spherical Coordinates
AU - Mallick, Mahendra
AU - Morelande, Mark
AU - Mihaylova, Lyudmila
AU - Arulampalam, Sanjeev
AU - Yan, Yanjun
PY - 2012/7/1
Y1 - 2012/7/1
N2 - We compare the performance of the extended Kalman filter (EKF), unscented Kalman filter (UKF), and particle filter (PF) for the angle-only filtering problem in 3D using bearing and elevation measurements from a single maneuvering sensor. These nonlinear filtering algorithms use discrete-time dynamic and measurement models. Two types of coordinate systems are considered, Cartesian coordinates and modified spherical coordinates (MSC) for the relative state vector. The paper presents new algorithms using the UKF and PF with the MSC. We also present an improved filter initialization algorithm. Numerical results from Monte Carlo simulations show that the EKF-MSC and UKF-MSC have the best state estimation accuracy among all nonlinear filters considered and have comparable accuracy with modest computational cost.
AB - We compare the performance of the extended Kalman filter (EKF), unscented Kalman filter (UKF), and particle filter (PF) for the angle-only filtering problem in 3D using bearing and elevation measurements from a single maneuvering sensor. These nonlinear filtering algorithms use discrete-time dynamic and measurement models. Two types of coordinate systems are considered, Cartesian coordinates and modified spherical coordinates (MSC) for the relative state vector. The paper presents new algorithms using the UKF and PF with the MSC. We also present an improved filter initialization algorithm. Numerical results from Monte Carlo simulations show that the EKF-MSC and UKF-MSC have the best state estimation accuracy among all nonlinear filters considered and have comparable accuracy with modest computational cost.
KW - bearings only target tracking
KW - 3D model
KW - Angle-only filtering in 3D
KW - Extended Kalman filter (EKF)
KW - Modified spherical coordinates (MSC)
KW - Nonlinear filtering (NLF)
KW - Particle filter (PF)
KW - Unscented Kalman filter (UKF)
M3 - Conference contribution/Paper
SN - 978-1-4673-0417-7
SP - 1392
EP - 1399
BT - Information Fusion (FUSION), 2012 15th International Conference on
PB - IEEE
T2 - The 15th International Conference on Information Fusion
Y2 - 9 July 2012 through 12 July 2012
ER -