Adaptive filtering with input estimation–a tracking filter with input estimation
Kohei Nomoto, Hideo Nojima, Chikara Sato · Electronics and Communications in Japan (Part I Communications) · 1986
Abstract This paper proposes a tracking filter to track the maneuvering target, controlled by the input which is unknown to the observer. The method estimates the constant component of the acceleration input, which is then utilized in the estimation and prediction of the position and the velocity. In the constant velocity, straight‐line motion, the acceleration of the moving target is only a perturbation of trajectory by turbulence, etc., which can be considered as a noise in the system. However, in circular motion, a considerably large acceleration is continuously added to the fluctuation. Consequently, the acceleration is divided into the system noise and the bias or deterministic input. The latter component is estimated under the assumption that it changes only slowly. The tracking filter is then constructed using the result of the above analysis to the estimation and prediction of the position and the velocity. The proposed tracking filter aims at the adaptation to the nonstationary motion of the maneuvering target and the tracking to both circular and straight line motions. The filtering can be generalized as a method of state estimation including the estimation of input, and one can expect other applications. Finally, the effectiveness of the proposed filter is demonstrated by a simulation.