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2 차원 탐색 레이다를 위한 국부 항법 좌표계에서의 운동 보상을 포함한 추적 필터
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- Authors
- 김병두, 이자성
- Issue Date
- 2007-05
- Citation
- 제어·자동화·시스템공학 논문지, v.13, no.5, pp.507-512
- ISSN
- 1976-5622
- Publisher
- 제어·로봇·시스템학회
- Language
- Korean
- Type
- Journal Article
- 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.
- KSP Keywords
- First order, Measurement errors, Monte-Carlo Runs, Motion Compensation(MoCo), Rotational motions, Ship motion, Taylor series approximation, Tracking Performance, Tracking System, converted measurement, error covariance