A Study of Endpoint-Constrained Nonlinear Tracking Filters
Kevin R. Ford, Anton J. Haug · IEEE Transactions on Aerospace and Electronic Systems · 2021
The development and performance of an endpoint-constrained (EPC) extended Kalman filter (EKF) were published by Haug and Ford, where the EPC EKF was shown to outperform similar non-EPC EKFs against highly maneuverable antiship cruise missile (ASCM) trajectories. The purpose of this article is to resolve two issues identified during the original study. The first issue is that EKFs may not offer superior performance when the target's motion is highly nonlinear. The second issue is that the EPC EKF performs poorly against the high diver trajectory, where the target does not satisfy the EPC until the dive begins. This article presents a new filter that uses a modified version of the EPC and a multiple-model algorithm to achieve superior performance against a larger set of ASCM trajectories than the EPC EKF.