Angle‐Only Filtering in Three Dimensions
Mahendra K. Mallick, Mark R. Morelande, Lyudmila S. Mihaylova, Sanjeev Arulampalam, Yanjun Yan · 2014
The angle-only filtering problem in three dimensions using bearing and elevation measurements is an important problem in many passive tracking applications. This chapter describes the statement of this problem and underlying assumptions. It defines the tracker and sensor coordinate frames and explains different coordinate systems for the target and ownship states. It presents the continuous-time and discrete-time models for the time evolution of the target state in each coordinate system. The chapter also presents the measurement models for the Cartesian relative state and modified spherical coordinates (MSC). Filter initialization is performed at time using the measurement and prior information on the range and velocity of the target. The chapter highlights algorithms based on the extended Kalman filter (EKF), unscented Kalman filter (UKF), and particle filter (PF). Finally, it describes numerical simulations and results.