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Angle‐Only Filtering in Three Dimensions

  • Sep 2, 2016
  • Mahendra Mallick +4 more
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Abstract

The angle-only filtering problem in 3D using bearing and elevation measurements is an important problem in many passive tracking applications. Research in angle-only filtering in 3D began by extending the methods developed for the counterpart problem in 2D. This chapter defines the tracker and sensor coordinate frames and describes different coordinate systems for the target and ownship states. It presents the dynamic models of the target and ownship, whereas the measurement models for the Cartesian relative state and MSC. The chapter describes filter initialization, and presents algorithms based on the extended Kalman filter (EKF), unscented Kalman filter (UKF), and particle filter. It presents the continuous-time and discrete-time models for the time evolution of the target state in each coordinate system. The chapter considers a dynamic model obtained by transformation of the Cartesian discrete-time dynamic model. It summarizes the unscented transformation before showing how it is used as part of the UKF recursion for angle-only tracking.

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