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Comparison of Angle-only Filtering Algorithms in 3D using Cartesian and Modified Spherical Coordinates

Mallick, Mahendra and Morelande, Mark and Mihaylova, Lyudmila and Arulampalam, Sanjeev and Yan, Yanjun (2012) Comparison of Angle-only Filtering Algorithms in 3D using Cartesian and Modified Spherical Coordinates. In: Information Fusion (FUSION), 2012 15th International Conference on. IEEE, pp. 1392-1399. ISBN 978-1-4673-0417-7

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Abstract

We compare the performance of the extended Kalman filter (EKF), unscented Kalman filter (UKF), and particle filter (PF) for the angle-only filtering problem in 3D using bearing and elevation measurements from a single maneuvering sensor. These nonlinear filtering algorithms use discrete-time dynamic and measurement models. Two types of coordinate systems are considered, Cartesian coordinates and modified spherical coordinates (MSC) for the relative state vector. The paper presents new algorithms using the UKF and PF with the MSC. We also present an improved filter initialization algorithm. Numerical results from Monte Carlo simulations show that the EKF-MSC and UKF-MSC have the best state estimation accuracy among all nonlinear filters considered and have comparable accuracy with modest computational cost.

Item Type: Contribution in Book/Report/Proceedings
Uncontrolled Keywords: bearings only target tracking ; 3D model ; Angle-only filtering in 3D ; Extended Kalman filter (EKF) ; Modified spherical coordinates (MSC) ; Nonlinear filtering (NLF) ; Particle filter (PF) ; Unscented Kalman filter (UKF)
Subjects: Q Science > QA Mathematics > QA75 Electronic computers. Computer science
Departments: Faculty of Science and Technology > School of Computing & Communications
ID Code: 56271
Deposited By: ep_importer_pure
Deposited On: 27 Jul 2012 14:06
Refereed?: No
Published?: Published
Last Modified: 23 Sep 2013 15:50
Identification Number:
URI: http://eprints.lancs.ac.uk/id/eprint/56271

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