Application of Kalman filter on multisensor fusion tracking
Terpening, Brian Everett
Titus, Harold A.
Schoenstadt, Arthur L.
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The use of Kalman filtering in tracking targets and the reconstruction of a target's track are addressed in two separate fusion schemes. First, the Kalman filter is used to provide estimates of the position and velocity of a target based upon observations of the target's bearing. Two sensors, a radar in receive mode and an infra-red sensor, take bearings to the target at different scan rates. This information is then fused within the filter to obtain the target's track. Secondly, range, bearing, and frequency are used in fusion. Kalman filtering, Kalman smoothing, and maneuver detection are all used in the reconstruction of a target's track. Improvements are implemented in the method of forcing the excitation matrix and the results documented.
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