A Single Warship Bearings-Only Tracking Algorithm With Constraints
Jing Xu · Systems engineering and electronics · 2002
An approach to incorporate constraints of a moving target warship and evasion from land and islands into modified gain extended Kalman filter(MGEKF)is presented. The target observation equation and the target state equation are modified respectively to track a maritime moving target warship emitter in a bearings-only manner. The speed constraints can be regarded as additional observation data which outputs are zero. According to the estimated present target position and speed, when the target runs into or approaches the land and islands in the next period, the evasion factor matrix is used to modify the course and speed of target warship, thus avoiding the target warship running into the land and islands. Computer simulation results prove that this approach can improve the passive location precision on a maritime moving target warship emitter.\;