A Multiunit Relative Localization and Tracking Algorithm for OTH Targeting.
J. R. Olmstead, Goheen,Lola C · Defense Technical Information Center (DTIC) · 1979
A Kalman filter tracking algorithm, called MURLOC, is described and favorably evaluated against a batch-processed least-squares algorithm. MURLOC is applicable to locating and tracking multiple units in OTH targeting scenarios. The algorithms uses a multiunit state vector, transforms measurements before filtering, determines a pseudo range to use with bearing-only measurements, and adapts the model noise covariance to the measurement residuals so that a maneuvering target can be tracked. MURLOC can filter x-and-y, range-and-bearing, bearing-only, and course-and-speed measurements. (Author)