A design of target tracking filter using bearing-only

방위각만을 이용한 표적 추적 필터 설계

This paper addresses the development of the estimation algorithm to acquire target position, velocity and course using bearing-only measurements in two dimensional environment. System state equations are derived from modified polar coordinates instead of existing Cartesian coordinates system. The Extended Kalman Filter is used to constitute the estimation algorithm because of state equation's nonlinearity. The computer simulation is done to verify the performance of derived algorithm. Simulation result showed that estimated state value of filter was converged to the true value in 10 minutes.