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2024
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no. 1
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Vol. 1
Performance Comparison of Interactive Multiple Model - Extended Kalman Filter for Bearings - only Tracking
Pages
:
55-60
Ravi Kumar Jatoth, Abhinav Bezgam, Ravi Kiran Nety
Online tracking of maneuvering target is a highly non-linear andchallenging problem in which the unknown state of the target is estimatedfrom noisy observations. The bearings-only tracking has the advantage ofdirect measurement of the target location, from the beam crossing. Toprocess the non-linear measurements, Extended Kalman Filter(EKF) andUnscented Kalman filter(UKF) are generally used. If the target ismaneuvering and switching among different models like constant velocity(CV), constant acceleration (CA) or constant turn (CT) interactive multiplemodels (IMM) are employed. In this paper, IMM-EKF is comprehensivelyevaluated and its performance is compared with conventional KF and EKF interms of robustness, computational complexity and error performance.
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