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Steady-state circular errors for basic tracking filters

Steady-state circular errors for basic tracking filters

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Deterministic steady-state errors for circular manoeuvres are discussed for two basic tracking filters: a two-state continuous-time filter and the discrete-time update α-β filter. Radial and angular errors are expressed in terms of target acceleration and filter bandwidth, and it is shown that the radial error dominates. The α-β filter bandwidth is given and a useful approximation is obtained. The tracking index can then be interpreted in terms of bandwidth and a rule-of-thumb for an upper bound of the index can be formulated. The paper contributes relationships for basic filter performance during circular manoeuvring that should be useful in a design process. Some design aspects are discussed. The results are obtained by using transfer functions.

References

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      • Y. Bar-Shalom , X.R. Li , T. Kirubarajan . (2001) Estimation with applications to tracking and navigation.
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      • Y. Bar-Shalom , T.E. Fortmann . (1988) Tracking and data association.
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      • Tenne, D., Singh, T.: `Circular prediction algorithms—hybrid filters', Proceedings of the American Control Conference, 8–10 May 2002, Anchorage, AK, p. 172–177.
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      • K.J. Åström , B. Wittenmark . (1997) Computer controlled systems.
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