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Continuous Singularity Free Approach to the Three-Dimensional Bearings-Only Tracking Problem

, and . Journal of Guidance, Control, and Dynamics, 39 (12): 2673--2682 (2016)
DOI: 10.2514/1.G000362

Abstract

This work presents a new description of the three-dimensional bearings-only tracking problem. A review of established approaches reveals that the common use of elevation and azimuth angles in the state or the measurement model can cause unrealistic error distributions and is not well-suited to Kalman filtering under certain relevant circumstances. It is furthermore shown that such methods immanently corrupt rotational invariance and thus let estimation performance rely on a fortunate choice of the inertial reference system. Based on these considerations, an alternative representation is derived that aims at eliminating the prior identified shortcomings. A corresponding tracking filter is designed and demonstrated to give equivalent or superior performance compared to usual approaches.

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