Converted state equation Kalman filter for nonlinear maneuvering target tracking

Zhang，Wen1; Zhao，Xuanzhi1; Liu，Zengli1; Liu，Kang2; Chen，Bo1

2023

10.1016/j.sigpro.2022.108741

SIGNAL PROCESSING   Impact Factor & Quartile

0165-1684

1872-7557

Handling the nonlinearity between the measurement and kinematic states is the core issue in target tracking based on radar or sonar. The main novelty of this paper is the proposal of a new filter with a linear structure to achieve nonlinear tracking by integrating information in the polar coordinate system. The state vectors composed of the range, bearing and their differentials are constructed to make the measurement equations linear. After discretizing the ordinary differential dynamic equations in the polar coordinate system, linear time-varying state transition matrixes are established for two common Cartesian motions: constant velocity (CV) and constant acceleration (CA). For the process noises converted from the Cartesian coordinate system to the polar coordinate system, the first and second moments are derived with a closed form. Consequently, the coordinate system of the conventional state equations is converted so that the tracking can be conducted by a standard Kalman filter. Several simulation scenarios show that such a new filter effectively improves the tracking accuracy. The reasons for the superior performance of the proposed method are analyzed and exemplified. In addition, different posterior Cramer–Rao lower bounds (PCRLBs) for fusion estimation in Cartesian coordinates and polar coordinates are given and compared.

Converted state equation Kalman filter Motion modeling Nonlinear filtering Polar coordinates Target tracking

SCI ; EI

English

Others

Engineering

Engineering, Electrical & Electronic

WOS:000860263800011

ELSEVIER

20223612702027

Clutter (information theory) ; Control nonlinearities ; Equations of motion ; Equations of state ; Nonlinear equations ; Ordinary differential equations ; Target tracking ; Tracking radar

Information Theory and Signal Processing:716.1 ; Radar Systems and Equipment:716.2 ; Control Systems:731.1 ; Calculus:921.2

ENGINEERING

2-s2.0-85137165040

Scopus

1.Faculty of Information Engineering and Automation,Kunming University of Science and Technology,Kunming,650500,China
2.School of Environmental Science and Engineering,Southern University of Science and Technology,Shenzhen,518055,China

Zhang，Wen,Zhao，Xuanzhi,Liu，Zengli,et al. Converted state equation Kalman filter for nonlinear maneuvering target tracking[J]. SIGNAL PROCESSING,2023,202.

Zhang，Wen,Zhao，Xuanzhi,Liu，Zengli,Liu，Kang,&Chen，Bo.(2023).Converted state equation Kalman filter for nonlinear maneuvering target tracking.SIGNAL PROCESSING,202.

Zhang，Wen,et al."Converted state equation Kalman filter for nonlinear maneuvering target tracking".SIGNAL PROCESSING 202(2023).