A modified multiple target angle tracking algorithm with predicted angle

방위각 예측치를 이용한 수정된 다중표적 방위각 추적 알고리듬

In this paper, we modify a multiple target angle tracking algorithm presented by Sword et al.. The predicted estimates, instead of the existing estimates, of the target angles are updated by the most recent output of the sensor array to improve the tracking performance of the algorithm for crossing targets. Also, the least square solution is modified to avoid abnormally large angle innovations when the target angles are very close. The improved performance of the proposed algorithm is demonstrated by computer simulations.