Suboptimal Kalman filter design with pseudomeasurements for maneuvering target tracking

목표물 추적을 위한 가측정치를 이용한 준최적 칼만필터의 설계

This paper presents a suboptimal Kalman filter design method for the problem of tracking a maneuvering target. The design method is essentially based on linear target dynamics and linear-like structured measurements called pseudomeasurements. The pseudomeasurements are obtained by manipulating the original nonlinear measurements algebraically. The resulting filter has computational advantages over other filters with similar performance. Monte Carlo computer simulation results are included to demonstrate the effectiveness of the proposed suboptimal filter associated with the target acceleration model.