제어로봇시스템학회:학술대회논문집

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Maneuvering detection and tracking in uncertain systems

불확정 시스템에서의 기동검출 및 추적

  • Yoo, K. S. (Dept. of Electrical Engineering, Inha University) ;
  • Hong, I. S. (Agency of Defence Development) ;
  • Kwon, O. K. (Dept. of Electrical Engineering, Inha University)
  • 유경상 (인하대학교 전기공학과) ;
  • 홍일선 (국방과학연구소) ;
  • 권오규 (인하대학교 전기공학과)
  • Published : 1991.10.01
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Abstract

In this paper, we consider the maneuvering detection and target tracking problem in uncertain linear discrete-time systems. The maneuvering detection is based on X$^{2}$ test[2,71, where Kalman filters have been utilized so far. The target tracking is performed by the maneuvering input compensation based on a maximum likelihood estimator. KF has been known to diverge when some modelling errors exist and fail to detect the maneuvering and to track the target in uncertain systems. Thus this paper adopt the FIR filter[l], which is known to be robust to modelling errors, for maneuvering detection and target tracking problem. Various computer simulations show the superior performance of the FIR filter in this problem.

Keywords