Study of bearing-only measurement for tracking.
Date of Issue2011
School of Electrical and Electronic Engineering
Bearing-Only Target Motion Analysis attempts to obtain a target trajectory based on bearing measurements, from an observer to the target. In this project we have investigated on the subject of Bearing-Only measurement for tracking. Firstly the performances of modified polar extended Kalman filter (MP-EKF) and Cartesian extended Kalman filter are acceptably good. And the measurement noise〖 σ〗_θ and the distance between the target and the observer could affect the performances of the two. Secondly, EKF-Bearing and EKF-Range utilize the bearing measurements and range measurements, respectively. They perform equivalently well with the respective measurement noise levels set to equivalent values. The performance of EKF-Bearing-Range is significantly improved compared to EKF-Bearing and EKF-Range. Thirdly, Constrained Least Squares Minimization on the Pseudo-Linear Estimate equations (CLSM-PLE) is an improved estimator for pseudo-linear estimator. Combination of CLSM-PLE and EKF demonstrates the idea of automatic tracking system. With more measurements available, the estimation for the initial state will be more accurate, thus leading to better performance for the entire system. Measurement noise is a more dominating factor, not only adversely affecting the estimation for the initial state, using CLSM-PLE but also the estimation afterwards, using EKF.
DRNTU::Engineering::Electrical and electronic engineering::Electronic systems::Signal processing
Final Year Project (FYP)
Nanyang Technological University