Position, velocity and acceleration estimates from the noisy radar measurements

Position, velocity and acceleration estimates from the noisy radar measurements

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A two-dimensional Kalman tracking filter is described for obtaining optimum estimates of position, velocity and acceleration of an aircraft whose acceleration is perturbed due to manoeuvres and/or other random factors. In a track-while-scan operation, a two-dimensional radar sensor is assumed to measure the range and bearing of the vehicle at uniform sampling intervals of time T seconds through random noise. The steady-state gain characteristics of the filter have been analytically obtained and the computer results are presented.


    1. 1)
      • R.E. Kalman . A new approach to linear filtering and prediction problems. Trans. ASME Ser. D, J. Basic Eng. , 35 - 45
    2. 2)
      • K.V. Ramachandra . Estimation of optimum steady-state position, velocity,and acceleration from noisy sampled position data. Electrotechnology (India) , 53 - 59
    3. 3)
      • F.R. Castella , F.G. Dunnebacke . Analytical results for the X, Y Kalman tracking filter. IEEE Trans. , 891 - 895
    4. 4)
      • Ramachandra, K.V.: `Mathematical models based on Kalman estimation theory', 1979, Ph.D. Thesis, Bangalore University, India.

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