Figure 1:
Observer and target’s geometry for observability analysis.
Figure 2:
Simulation scenario of a stationary target at (5,5) and moving observer (blue track).
Table 1.
Comparing performance of non-linear Kalman Filters for abruptly manoeuvring observers.
| Position RMSE (m) | Velocity RMSE (m/s) | |||||
|---|---|---|---|---|---|---|
| Measurements set | EKF | UKF | CKF | EKF | UKF | CKF |
| Bearings-only | 1.14 | 0.11 | 0.24 | 1.25 | 0.83 | 0.45 |
| Doppler frequency-only | 0.94 | 0.63 | 0.61 | 1.23 | 0.38 | 0.49 |
| Bearings-frequency measurements | 0.52 | 0.01 | 0.01 | 0.91 | 0.62 | 0.26 |
Figure 3:
Position and velocity error comparisons for different Gaussian approximate filters.
Figure 4:
Simulation scenario of a stationary target at (5,5) and moving observer (blue track).
Figure 5:
Position and velocity error comparisons for different CT trackers.