Application of the Kalman filter to spherical discrete track smoothing and prediction
Demetry, James S.
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This paper investigates the effectiveness of a method for circumventing the problem of nonlinear observation of a linear system's state variables in the Kalman filter discrete estimation scheme. The method employs a linearization of the nonlinear coordinate transformation, in this case cartesian to spherical. The performance of a filter designed by this method is observed as a function of measurement error, accuracy of filter initialization, and the relevance of the estimated initial error covariance, P subscript 2| subscript 1. The investigation reveals that the most critical factor in filter performance and stability is filter state initialization.
NPS Report NumberTechnical Report/ Reserach Paper No. 70
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