Tài liệu Tracking and Kalman filtering made easy P9 pdf

... consisting of Y ðnÞ 260 Tracking and Kalman Filtering Made Easy. Eli Brookner Copyright # 1998 John Wiley & Sons, Inc. ISBNs: 0-471-18407-1 (Hardback); 0-471-22419-7 (Electronic) and Y nþ1 , one ... Kalman filter can lead to computational problems for the Kalman filter [5, Section 12.4]. This form of the Kalman filter is not generally used for this reason, and it is not...

Ngày tải lên: 24/12/2013, 01:17

... be the case in Figure 3.1-1 for spiky sea clutter, rain clutter, lognormal 111 Tracking and Kalman Filtering Made Easy. Eli Brookner Copyright # 1998 John Wiley & Sons, Inc. ISBNs: 0-471-18407-1 ... corruption. 3.1.4 Combined Clutter Suppression and Track Initiation It is apparent from Sections 3.1.1 and 3.1.2 that clutter suppression and track initiation go hand in hand....

Ngày tải lên: 14/12/2013, 14:15

... achieved using a discounted, least-squares weighting as done in (1.2-34); that is, we 239 Tracking and Kalman Filtering Made Easy. Eli Brookner Copyright # 1998 John Wiley & Sons, Inc. ISBNs: 0-471-18407-1 ... Tables 7.4-2 and 5.8-1 are tabulated in Table 7.5-1 for i ¼ 0; ; 10 and m ¼ 0; ; 10. 7.6 TRACK INITIATION In Sections 1.2.10 and 1.3 track initiation was discussed...

Ngày tải lên: 24/12/2013, 01:17

... ðt 22 Þ 1 ðt 23 Þ 1 0 ðt 32 Þ 2 ðt 33 Þ 2 t 41 t 42 t 43 2 6 6 4 3 7 7 5 ð11:1-3Þ 283 Tracking and Kalman Filtering Made Easy. Eli Brookner Copyright # 1998 John Wiley & Sons, Inc. ISBNs: 0-471-18407-1 ... (11.1-6a) and (11.1-6b), it is easy to verify that ðt 11 Þ 1 ¼ c 1 t 11 þ s 1 t 21 ¼ðt 2 11 þ t 2 21 Þ 1=2 ð11:1-9Þ and that the lower left-hand component of the matrix...

Ngày tải lên: 24/12/2013, 01:17

... q 0 i k to form q i : We start by picking the first vector q 0 1 equal to t 1 , 322 Tracking and Kalman Filtering Made Easy. Eli Brookner Copyright # 1998 John Wiley & Sons, Inc. ISBNs: 0-471-18407-1 ... results are obtained for ðt j Þ 2 and ðt j Þ 2c and for r 2j and r 0 2j . It is because r 2j uses t ð2Þ j [see (13.2-7a)] while r 0 2j uses t j [see (13.2-6a) and (13.1-...

Ngày tải lên: 24/12/2013, 01:17

... proper association of the echo from target 1 on the second scan with the echo from 3 Tracking and Kalman Filtering Made Easy. Eli Brookner Copyright # 1998 John Wiley & Sons, Inc. ISBNs: 0-471-18407-1 ... applies for the general g–h tracking filter of (1.2-11). Figure 1.2-16 Equivalent circuit diagram of g–h filter. 46 g–h AND g–h–k FILTERS 1 g–h AND g–h–k FILTERS 1.1 WHY...

Ngày tải lên: 14/12/2013, 14:15

... dynamics model with some randomness. This model is called the constant-velocity trajectory model with a random-walk velocity. 64 Tracking and Kalman Filtering Made Easy. Eli Brookner Copyright ... simplifications and approximations to the Kalman filter in an Figure 2.11-3 Two-state Kalman filter simulation; T ¼ 1 sec, hence Kalman gain h n =T ¼ h n . (Reprinted with permission...

Ngày tải lên: 14/12/2013, 14:15

... is, Y n ¼ y 0 y 1 . . . y r 2 6 6 6 6 4 3 7 7 7 7 5 n ð4:1-1aÞ X n ¼ x 0 ðtÞ x 1 ðtÞ . . . x mÀ1 ðtÞ 2 6 6 6 6 4 3 7 7 7 7 5 ð4:1-1bÞ 155 Tracking and Kalman Filtering Made Easy. Eli Brookner Copyright # 1998 John Wiley & Sons, Inc. ISBNs: 0-471-18407-1 (Hardback); 0-471-22419-7 (Electronic) Substituting (4.1-33) and (4.1-36) ... this case M, T, and È all become a function...

Ngày tải lên: 14/12/2013, 14:15

... insight into the Legendre orthogonal polynomial fit approach will be obtained. 205 Tracking and Kalman Filtering Made Easy. Eli Brookner Copyright # 1998 John Wiley & Sons, Inc. ISBNs: 0-471-18407-1 ... matrix and their derivatives are small in the observation interval and increase monotonically outside; see Figures 5.8-2 and 5.8-3. Because the systematic errors and thei...

Ngày tải lên: 14/12/2013, 14:15

... obtained when using a short memory for the fading-memory filter discussed in Chapter 7. 233 Tracking and Kalman Filtering Made Easy. Eli Brookner Copyright # 1998 John Wiley & Sons, Inc. ISBNs: 0-471-18407-1 ... disadvantages are the expanding-memory filter and the fading memory filter. The expanding memory filter is, as discussed in Section 1.2.10 and later in Section 7.6, sui...

Ngày tải lên: 24/12/2013, 01:17