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Design of a Coordinate-Transformation Extended Robust Kalman Filter for Incoming Ballistic Missile Tracking Systems  

Shin Jong-Gu (LG전자 DM연구소)
Lee Tae Hoon (연세대학교 전기전자공학과)
Yoon Tae-Sung (창원대학교 전기공학과)
Choi Yoon-Ho (경기대학교 전자 기계공학부)
Park Jin Bae (연세대학교 전기전자공학부)
Publication Information
The Transactions of the Korean Institute of Electrical Engineers D / v.52, no.1, 2003 , pp. 22-30 More about this Journal
Abstract
A Coordinate-Transformation Extended Robust Kalman Filter (CERKF) designed in the Krein space is proposed, and then applied to a nonlinear incoming ballistic missile tracking system with parameter uncertainties. First, the Extended Robust Kalman filter (ERKF) is proposed to handle the nonlinearity of measurement equation which occurs whenever the polar coordinate system is transformed into the Cartesian coordinate system. Moreover, linearization error inevitably occurs and deteriorates the tracking performance, which is considerably reduced by the proposed CERKF. Through the simulation results, we show that the proposed CERKF, which uses the measurement coordinate system, has less RMS error than the previous ERKF which is designed in the Krein space using the Cartesian system. We also verify that the robustness and the stability of the proposed filter are guaranteed in two radars: the phased way radar and the scanning radar
Keywords
Nonlinear target tracking system; Robust Kalman Filter; Krein space;
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