TY - GEN
T1 - Design of a tracking filter suitable for 2D motion dynamics of an off-road target
AU - Samuel, Kangwagye
AU - Choi, Jae Weon
N1 - Publisher Copyright:
© 2017 Institute of Control, Robotics and Systems - ICROS.
PY - 2017/12/13
Y1 - 2017/12/13
N2 - Two linear Kalman filters arranged in series with each other which are used to estimate the system states, with the first filter for turn rate and the second one for target states for an off-road vehicle with unpredicted maneuvers is proposed. A Coordinated Turn model with unknown turn rate is used as a system dynamic equation. The root mean square error for all the estimates is small which indicates accurate and reliable results. This algorithm can more accurately track unpredicted target maneuvers with minimized errors. In this paper, the state of tracked object consists both of its longitudinal and lateral positions, and velocities. The turn rate which is also an unknown parameter is estimated.
AB - Two linear Kalman filters arranged in series with each other which are used to estimate the system states, with the first filter for turn rate and the second one for target states for an off-road vehicle with unpredicted maneuvers is proposed. A Coordinated Turn model with unknown turn rate is used as a system dynamic equation. The root mean square error for all the estimates is small which indicates accurate and reliable results. This algorithm can more accurately track unpredicted target maneuvers with minimized errors. In this paper, the state of tracked object consists both of its longitudinal and lateral positions, and velocities. The turn rate which is also an unknown parameter is estimated.
KW - Coordinated Turn Model
KW - Kalman Filter
KW - Turn Rate
UR - http://www.scopus.com/inward/record.url?scp=85044449164&partnerID=8YFLogxK
U2 - 10.23919/ICCAS.2017.8204469
DO - 10.23919/ICCAS.2017.8204469
M3 - Conference contribution
AN - SCOPUS:85044449164
T3 - International Conference on Control, Automation and Systems
SP - 379
EP - 382
BT - ICCAS 2017 - 2017 17th International Conference on Control, Automation and Systems - Proceedings
PB - IEEE Computer Society
T2 - 17th International Conference on Control, Automation and Systems, ICCAS 2017
Y2 - 18 October 2017 through 21 October 2017
ER -