Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Performance Improvement of α-β Tracking Filter using Approximate α-β Gain Updates

근사적 α-β 이득 갱신을 이용한 α-β 추적필터의 성능개선

  • 김병두 (한국전자통신연구원 측위시스템연구팀) ;
  • 이자성 (아주대학교 전자공학부)
  • Published : 2006.12.01
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Abstract

This paper presents an enhanced ${\alpha}-{\beta}$ tracking filter whose ${\alpha}-{\beta}$ gains are updated by an approximation method at every scan to account for the transition of measurement dependent observation error variance in two-dimensional Cartesian coordinates. The approximate ${\alpha}-{\beta}$ gains are calculated from the amount of the change in the tracking index and the partial derivatives of the ${\alpha}-{\beta}$ gains with respect to a nominal tracking index. It is shown via simulation that the proposed tracker provides improved performance compared to the conventional ${\alpha}-{\beta}$ tracking filter.

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References

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