Unscented Kalman Filter with Application to Bearings- Only Target Tracking

Abstract

The unscented transformation coupled with certain parts of the classic Kalman Alter, provides a more accurate method than the Extended Kalman Filter for nonlinear state estimation. Using bearings-only measurements, the unscented Kalman Filter algorithm estimates target motion parameters and detects target maneuver, using zero mean chi-square distributed random sequence residuals, in a sliding window format. During target maneuvering, the co-variance of the process noise is sufficiently increased in such a way that the disturbance in the solution is minimized. When target maneuver is completed, the covariance of process noise is lowered. The performance of this algorithm is evaluated using Monte Carlo simulation and results are presented.

Keywords:

• Kalman filter
• Estimation
• Sonar
• Target tracking and algorithms

Additional information

Notes on contributors

S Koteswara Rao

S. Koteswara Rao is working as Scientist ‘G’ at NSTL, Vizag. He received B. Tech in ’77 at JNTU and ME in 1979, PSG college of tech, Coimbatore, both in Electrical Engg. He is currently pursuing his Ph.D. As Scientist in NSTL, he is developing Fire Control Systems for Ship, Submarines and Torpedoes. He published several papers in IEEE / IEE International Conferences and Journals in the field of signal processing. He guided several M. Tech students for their project work in the field of Statistical Signal Processing. He is a fellow member of IETE. E-mail: [email protected]

K Raja Rajeswari

K. Raja Rajeswari obtained her BE, ME and Ph.D degrees from Andhra University in 1976, 1978 and 1992 respectively. Presently, she is professor in the Department of Electronics and Communication Engineering, Andhra University. She has published over 100 papers in various National, International Journals and Conferences. She is co-author of the textbook “Electronic Devices and Circuits” published by Pearson Education. Her research interests include Radar and Sonar Signal Processing, Wireless CDMA, Communication Technologies etc. She has guided five PhDs and presently she is guiding twelve students for Doctoral degree. She is current chairman of IETE, Visakhapatnam Centre. E-mail: [email protected]

K. S Lingamurty

K. S. Lingamurty obtained his Bachelor’s degree in Electrical Engineering and Master’s degree in Power Systems Engineering from Andhra University. He received his Ph.D. from Indian Institute of Technology, New Delhi in 1987. He worked in NSTL as a scientist for a period of 3 years up to 1979. Since 1979, he has been on the faculty of Electrical Engineering, Andhra University. Currently, he is professor of Electrical Engineering, Andhra University. He has published/presented about 30 technical papers in various national / international journals / conferences. E-mail: [email protected]