A switching models gain rotation algorithm for tracking a maneuvering target |
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| Affiliation: | 1. Dept. of Ind. Eng., Boğaziçi University, Bebek, İstanbul 34342, Turkey;2. Dept. of Comp. Eng., Boğaziçi University, Bebek, İstanbul 34342, Turkey;1. TÜBİTAK BİLGEM UEKAE İLTAREN, Şehit Mu. Kur. Yzb. İlhan Tan Kışlası, 2432. cad., 2489. sok., Ümitköy, Ankara 06800, Turkey;2. Department of Electrical and Electronics Engineering, Middle East Technical University, Ankara 06531, Turkey;1. School of Information Engineering, Chang''an University, Xi''an 710064, China;2. The National Key Laboratory for Manufacturing System Engineering, Xi''an Jiaotong University, Xi''an 710049, China;1. Department of Computer Science, Lahore University of Management Sciences (LUMS), Lahore, Pakistan;2. Namal College, Mianwali, Pakistan;3. School of Computing, Informatics and Media, University of Bradford, Bradford, UK;4. Computer Science Department, King Saud University, Saudi Arabia;1. College of Automation, Hangzhou Dianzi University, 310018 Hangzhou, Zhejiang, China;2. Electronic Information Engr, Xi''an Jiaotong University, 710049 Xi''an, Shaan xi, China |
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| Abstract: | Tracking of a target maneuvering in a 3D space is studied. Based on switching models describing the maneuver and/or nonmaneuver scenarios, the so-called switching models gain rotation algorithm (SMGRA) is presented. The proposed scheme incorporates a simple Kalman filter and a detector. Further it switches between the above two scenarios according to the detector's decision of target maneuverability. In both situations, the required gains of the algorithm are computed for uncoupled filters. A comparison study of the proposed scheme and several well-known filters is carried out for typical target trajectories in a naval gun fire control system. The tracking errors for the present algorithm are nearly identical to the extended Kalman filter (EKF), while the computation requirements are reduced by a factor of nine. |
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