A comparison of two extended Kalman filter algorithms for air-to-air passive ranging.

Abstract

Two Extended Kalman Filter algorithms for air-to-air passive ranging are proposed, and examined by computer simulation. One algorithm uses only bearing observations while the other uses both bearing and elevation angles. Both are tested using a flat-Earth model and also using a spherical-Earth model where the benefit of a simple correction for the curvature-of-the-Earth effect on elevation angle is examined. The effects of varied angle measurement precision and of varied range estimate accuracy are investigated. Both filters are found to perform acceptably under most conditions, with the bearing-elevation algorithm generally providing superior results.