Correlation and Kalman filter tracking solutions for the NRL NIPEX algorithm

Abstract

This thesis presents an algorithm designed to correlate and track airborne targets using positional and identification data reported from the Naval Research Laboratory Integrated Proforma Exploitation (NIPEX) test bed. The algorithm processes bearing and range inputs using an Interacting Multiple Model Kalman Filter (IMMKF). Association and gating of input measurements is accomplished with; (1) logical functions using amplifying information from MPEX output data, (2) linear velocity checks on all associations, and (3) a scoring method based on the Mahalanobis distance comparing positional inputs to Kalman Filter predicted states. Tracking is accomplished in two-dimensional space and performance of the algorithm is demonstrated for simulated data as well as actual collected data provided by the Naval Research Laboratory (NRL). The compatibility of the algorithm for fusion with additional sources is also addressed.