Recursive Filtering Algorithms for Ship Tracking
NAVAL RESEARCH LAB WASHINGTON DC
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Some recursive filtering algorithms were developed for tracking ships when observations are sporadic and imprecise. Tracking with position-only observations was emphasized, but a procedure was also developed for utilizing possible independent observations of ship velocity. Two basic algorithms are considered a Kalman filter with adaptive driving noise for generating estimates and containment ellipses for current and future ship positions, and a corresponding Bayesian smoother for generating estimates of past positions. The driving noise was treated as a velocity term in a continuous-time model of ships motion. The details of these two algorithms were developed for tracking on a plane, on a sphere in geographical coordinates, and on a sphere in three-dimensional rectilinear coordinates. A FORTRAN implementation and some corresponding numerical results were developed for the planar case.
- Computer Programming and Software
- Military Intelligence