Four State Filter with Position Measurements and also with Position and Doppler Measurements
B.R. Geetha, J. Fazlur Rahman · International Journal of Computer Applications · 2013
A one-dimensional, four state Kalman tracking filter is described for two cases: In case 1, the filter is described for position measurements only and in case 2, the filter is described for both position and Doppler measurements.The filter estimates the range, the range-rate, the rangeacceleration and the range-jerk of a moving target such as an aircraft moving with constant jerk perturbed by a plant noise of zero mean and constant variance which accounts for maneuvers and/or other random factors.In case 1, the range coordinate of the vehicle is assumed to be measured by a track-while-scan radar sensor and incase 2, the rangerate (Doppler) measurements are obtained by a trackwhile-scan radar sensor which employs pulsed Doppler processing such as a moving target detector providing unambiguous Doppler data [1,2].The measurements are obtained at uniform sampling intervals of time T seconds and all measurements are noisy.The filter structures have been defined and the steady state results are given for both cases.