This paper gives a simplified solution to the input estimation method of tracking a maneuvering target. Maneuver detection is now decoupled from input estimation and does not require estimates of the maneuver inputs. Instead, the detection variable is a normalized sum of the differences between the measurements and the Kalman filter projections of positions. The result is a very simple detector. The input estimator uses the same position differences to give a generalized least squares estimation of the maneuver inputs. No matrix inversion is needed and many calculations can be done off-line. Thus this detection-input estimation scheme is applicable to cases where several trackers are run simultaneously so that real-time constraint is a problem. The theoretical development is verified by simulation results, which also contain a tracking example of a typical maneuver.
Maneuvering detection with input estimation
Detektion von Zielmanövern mit Schätzung der Eingangsgrößen
1990
4 Seiten, 3 Bilder, 1 Tabelle, 13 Quellen
Aufsatz (Konferenz)
Englisch