Comparison and choice of models in tracking target with coordinated turn motion
Xianghui Yuan, Chongzhao Han, Zhansheng Duan, Ming Lei · 2005
Coordinated turn (CT) models used for target tracking are highly dependent on the choice of the state components. Four widely used models are compared in this paper-augmented coordinated turn (ACT) model with Cartesian velocity, ACT model with polar velocity, coordinated turn model using a kinematics constraint and maneuver centered circular motion model. The first two are nonlinear, so the unscented Kalman filter (UKF) is used. The third one uses a kinematics constraint as a pseudo measurement, which avoids the state model to be nonlinear. The last one has a linear form, but the maneuver center should be determined accurately, which is a nonlinear problem in essence. Through Monte-Carlo simulations, the models' computational load and tracking performance are compared, and the suggestions on the choice of models for different practical target tracking problems are given.