Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지
DOI QR코드

DOI QR Code

A Tracking Filter with Motion Compensation in Local Navigation Frame for Ship-borne 2D Surveillance Radar

2 차원 탐색 레이다를 위한 국부 항법 좌표계에서의 운동보상을 포함한 추적필터

  • 김병두 (한국전자통신연구원 측위시스템연구팀) ;
  • 이자성 (아주대학교 전자공학부)
  • Published : 2007.05.01
Download PDF
⟨ Previous Next ⟩

Abstract

This paper presents a tracking filter with ship's motion compensation for a ship-borne radar tracking system. The ship's maneuver is described by displacement and rotational motions in the ship-centered east-north frame. The first order Taylor series approximation of the measurement error covariance of the converted measurement is derived in the ship-centered east-north frame. The ship's maneuver is compensated by incorporating the measurement error covariance of the converted measurement and displacement of the position state in the tracking filter. The simulation results via 500 Monte-Carlo runs show that the proposed method follows the target successfully and provides consistent tracking performance during ship's maneuvers while the conventional tracking filter without ship motion compensation fails to track during such periods.

Keywords

References

  1. Z. Boyan andC. Qingyu, 'A newmethod forelectronic tracking beam stabilization,' Proceedings of CIE International Conference of Radar, pp.507-510, 1996
  2. B. L. Diamond, et al. The ARIES Program : Coordinates, Transformations, Trajectories and Tracking, ESD-TR-7S-2SS, Lincoln Laboratory, MIT, 1975
  3. K. V. Ramachandra, Kalman Filtering Techniques for Radar Tracking, Marcel Dekker, Inc.,NewYork, 2000
  4. S. S. Blackman andR. Popoli, Design and Analysis of Modern Tracking Systems, Artech House, Norwood, MA, 1999
  5. D. Lerro and Y.B. Shalom, 'Tracking with debiased consistent converted measurements versus EKF,' IEEE Trans. on Aerospace and Electronic Systems, vol. 29,no.3, pp. 1015-1022, July 1993 https://doi.org/10.1109/7.220948