Estimating the Target Trackingusing a Set of Range -Parametersfor Gain Modification Usingkalman Filters Full Text

Bearings-only tracking using the modified gain extended Kalman filter (MGEKF) configured in Cartesian coordinate systems is reviewed. A new tracking approach is proposed which consists of a set of weighted MGEKFs each with a different initial range estimate and this is referred to as the range-parameterized (RP) tracker. This new approach overcomes the problems exhibited with existing MGEKF trackers. Results are presented for a typical tracking scenario, involving a manoeuvring observer and a constant velocity target. The results show that the RP tracker gives stable, consistent and unbiased estimates in all the cases considered. Although only constant velocity target trajectories have been considered in this paper, the RP tracker provides a natural framework for consideration of manoeuvring targets