Comparison of extended and unscented Kalman, particle, and smooth variable structure filters on a bearing-only target tracking problem

S. A. Gadsden; D. Dunne; S. R. Habibi; T. Kirubarajan

doi:10.1117/12.825424

3 September 2009 Comparison of extended and unscented Kalman, particle, and smooth variable structure filters on a bearing-only target tracking problem

S. A. Gadsden, D. Dunne, S. R. Habibi, T. Kirubarajan

Author Affiliations +

Proceedings Volume 7445, Signal and Data Processing of Small Targets 2009; 74450B (2009) https://doi.org/10.1117/12.825424
Event: SPIE Optical Engineering + Applications, 2009, San Diego, California, United States

Abstract

In this paper, we study a nonlinear bearing-only target tracking problem using four different estimation strategies and compare their performances. This study is based on a classical ground surveillance problem, where a moving airborne platform with a sensor is used to track a moving target. The tracking scenario is set in two dimensions, with the measurement providing angle observations. Four nonlinear estimation strategies are used to track the target: the popular extended and unscented Kalman filters (EKF/UKF), the particle filter (PF), and the relatively new smooth variable structure filter (SVSF). The SVSF is a predictor-corrector method used for state and parameter estimation. It is a sliding mode estimator, where gain switching is used to ensure that the estimates converge to true state values. An internal model of the system, either linear or nonlinear, is used to predict an a priori state estimate. A corrective term is then applied to calculate the a posteriori state estimate, and the estimation process is repeated iteratively. The performances of these methods applied on a bearing-only target tracking problem are compared in terms of estimation accuracy and filter robustness.

Citation Download Citation

S. A. Gadsden, D. Dunne, S. R. Habibi, and T. Kirubarajan "Comparison of extended and unscented Kalman, particle, and smooth variable structure filters on a bearing-only target tracking problem", Proc. SPIE 7445, Signal and Data Processing of Small Targets 2009, 74450B (3 September 2009); https://doi.org/10.1117/12.825424

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available