Tracking of a Maneuvering Target with Unknown Course and Speed Using Extended Kalman Filter
Akira Ohsumi, Seïichi Yasuki, Junji Hirata, Ybshihisa IJIRI, Ybshihisa NAGAYAMA, Hiroto Sasaki · Transactions of the Institute of Systems Control and Information Engineers · 2001
In this paper, an effective tracking method for a maneuvering target moving at unknown variable speed on the 2-dimensional plane is proposed. First, dynamics are derived for the target which moves at variable speed by introducing the first-order dynamics for the target's jerk motion as a modified Singer model. Next, in order to get highly accurate tracking, the kinematic constraints are incorporated into measurement equation as pseudomeasurements. Based on the extended Kalman filter algorithm, the tracking filter is derived from the linear dynamics and the augmented nonlinear measurement equation. The efficacy of this method is shown by simulations using real data.