Kalman Filter Predictor and Initialization Algorithm for PRI Tracking

A pulse repetition interval PRI tracking algorithm bas been developed for staggered PRI sequences. The algorithm is intended for use in electronic countermeasures applications. It processes time of arrival TOA measurements from an electronic support receiver and outputs TOA predictions with associated variances to an electronic attack system. The algorithm uses a Kalman filter for prediction combined with a preprocessing routine to determine the period of the stagger sequence and to construct an uncorrupted data set for Kalman filter initialization. It is robust to missing andor spurious pulses, intentional or unintentional jitter, and measurement noise.