A three-state Kalman tracker Is described for tracking a moving target, such as an aircraft, making use of the position and rate measurements oblalned by a track-whlle-scan radar sensor which employs pulsed Doppler processing, such as the moving target detector providing unambiguous Doppler data. The steady-state ruter parameters have been analytically obtained under the assun.,tlon of while noise maneuver capabllily. The numerical computallons of these parameters are In exceUent agreement with those obtained from the recursive Kalman filter matrix equations. The solutIon for the case when only the range measurements are available Is obtained as a special case of this model Graphs of normalized covariances and gains are presented to Iliustrate how the solution depends on different parameters.
A one-dimensional, four state Kalman tracking filter is described for two cases: In case 1, the filter is described for position measurements only and in case 2, the filter is described for both position and Doppler measurements. The filter estimates the range, the range-rate, the rangeacceleration and the range-jerk of a moving target such as an aircraft moving with constant jerk perturbed by a plant noise of zero mean and constant variance which accounts for maneuvers and/or other random factors. In case 1, the range coordinate of the vehicle is assumed to be measured by a track-while-scan radar sensor and incase 2, the rangerate (Doppler) measurements are obtained by a trackwhile-scan radar sensor which employs pulsed Doppler processing such as a moving target detector providing unambiguous Doppler data [1,2]. The measurements are obtained at uniform sampling intervals of time T seconds and all measurements are noisy. The filter structures have been defined and the steady state results are given for both cases.
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