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Fusion of ground-based sensors for optimal tracking of military targets

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Author
Hucks, John A. II
Date
1989-12
Advisor
Titus, Harold A.
Second Reader
Cristi, Roberto
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Abstract
Extended Kalman filtering is applied as an extension of the Position Location Reporting System (PLRS) to track a moving target in the XY plane. The application uses four sets of observables which correspond to inputs from a fused-sensor array where the sensors employed are acoustic, seismic, or radar. The nonlinearities to the Kalman filter occur through the measured observables which are: bearings to the target only, ranges to the target only, bearings and ranges to the target, and a Doppler-shifted frequency accompanied by the bearing to that frequency. The observables are nonlinear in their relationships to the Cartesian coordinate states of the filter. Filter error covariances are portrayed as error ellipsoids about the laser target estimate made by the filter. Rotation of the ellipsoids is accomplished to avoid the cross correlation of the coordinates. The ellipsoids employed are one standard of deviation in the rotated coordinate system and correspond to a constant of probability of target location about the latest Kalman target estimate. Filtering techniques are evaluated for both stationary and moving observers with arbitrarily moving targets. The objective of creating a user-friendly, personal computer based tracking algorithm is also discussed.
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This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.
URI
http://hdl.handle.net/10945/27067
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  • 1. Thesis and Dissertation Collection, all items

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    Target detection via Kalman filtering 

    Sipe, Gary Alan (Monterey, California. Naval Postgraduate School, 1993-03);
    A simple, time domain method is used to analyze moderate to high PRF radar signals. The quantities of interest are the signal's PRF, SNR, and time of arrival. The time of arrival problem is important because it can be used, ...
  • Thumbnail

    Noise adaptation and correlated maneuver gating of an extended Kalman filter 

    Spehn, Stephen L. (Monterey, California: Naval Postgraduate School, 1990-03);
    Extended Kalman filtering is used to provide estimates of the position and velocity of a target based upon observations of the target's bearing and range. Non-stationary noise is shown to degrade the performance of the ...
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    The application of extended Kalman filtering to the Position Locating Reporting System (PLRS) 

    Dittmar, Charles A., Jr. (Monterey, California. Naval Postgraduate School, 1975-12); NPS-52TS75121
    Extended Kalman filtering is applied to the PLRS (Position Locating Reporting System). Here the nonlinearity to the filter enters through the measurement (range only). The nonlinearity being the relationship between range ...
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