An Innovative Nonlinear Filter for Radar Kinematic Estimation of Maneuvering Targets in 2D
Résumé
In this paper we consider the problem of tracking a target in a 2D space whose model is based on a constant velocity assumption (up to a process noise) in the Frenet-Serret frame (or intrinsic coordinates). This model is particularly suited to straight lines and coordinated turn motions. Then, we adapt the Invariant Extended Kalman Filter (I-EKF), as in [1], a novel variant of the EKF on Lie groups, to suit this dynamical model. Numerical experiments inspired by real fighter trajectories confirm the validity of our approach.
Domaines
Mathématiques appliquées
Origine : Fichiers produits par l'(les) auteur(s)
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