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 - 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 -