High-accurate Tracking of a Maneuvering Target Using Extended Kalman Filter
Akira Ohsumi, Seïichi Yasuki · Proceedings of the ISCIE International Symposium on Stochastic Systems Theory and its Applications · 2000
In this paper, an effective tracking method for constant speed maneuvering targets which move on the 2-dimensional plane is proposed utilizing kinematic constraints of the target effectively. First, dynamics of maneuvering target are derived. Kinematic constraints which express target's characteristics are incorporated into not dynamics but measurement equation as pseudo-measurements. Based on the extended Kalman filtering theory, the tracking filter is derived from the linear dynamics and the augmented nonlinear measurement equation. The effectiveness of the proposed method is examined by numerical simulations.