Method of Kalman Filtering for Estimating the Position and Velocity of a Tracked Object.
Patent, Filed 12 Feb 91, patented 24 Sep 91,
DEPARTMENT OF THE NAVY WASHINGTON DC
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A method of Kalman filtering for estimating the position and velocity of a tracked object is provided. A Kalman filter is initialized with at least position and velocity error states in an inertial computational frame. Sensor measurements are used to develop a measured line-of-sight vector to the object. Matrix transformations are used to analytically rotate the sensor measurements into a measurement frame. The measurement frame is defined as having one axis pointing towards the estimated relative position of the object. The use of the measurement frame allows the method to be adaptable to any line-of-sightcomputational frame geometry. Since statistical correlation of the measurements is not present in the measurement frame, the number of computations at each filter update is reduced. Author
- Target Direction, Range and Position Finding
- Navigation and Guidance