Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)

The Korean Institute of Electrical Engineers (대한전기학회)
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Design of Target Tracking systems Using The extended $H^{\infty}$ Filter

확장 $H^{\infty}$ 필터를 이용한 표적 추적 시스템 설계

  • Lee, Hyun-Seok (Dept. of Electrical & Computer Engineering, Yonsei Univ.) ;
  • Ra, Won-Sang (Dept. of Electrical & Computer Engineering, Yonsei Univ.) ;
  • Jin, Seung-Hee (Dept. of Electrical & Computer Engineering, Yonsei Univ.) ;
  • Yoon, Tae-Sung (Dept. of Electrical Engineering, Changwon National Univ.) ;
  • Park, Jin-Bae (Dept. of Electrical & Computer Engineering, Yonsei Univ.)
  • 이현석 (연세대 전기.컴퓨터공학과) ;
  • 나원상 (연세대 전기.컴퓨터공학과) ;
  • 진승희 (연세대 전기.컴퓨터공학과) ;
  • 윤태성 (창원대 전기공학과) ;
  • 박진배 (연세대 전기.컴퓨터공학과)
  • Published : 1999.07.19
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Abstract

In this paper, the design method of target tracking systems using the extended $H^{\infty}$ filter(EHF) is proposed. Usually, a Cartesian coordinate frame is tell suited to describe the target dynamics. However, the measurements made in radar-centered polar coordinates are expressed as nonlinear equations in Cartesian coordinates. Thus the tacking problem is concerned with the nonlinear estimation. The extended $H^{\infty}$ filter is able to deal with the problems arising in the target tacking systems such as the parameter uncertainty included inevitably in modeling physical systems mathematically, the unavailableness of the stochastic information about exogenous disturbances, and errors due to the linearization of measurement equations. We show the proposed filter is robuster than the extended Kalman filter(EKF) through a simple target tracking example.

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