... range–Doppler ambiguity can be made into a
nonproblem in those situations where it is satisfactory to know the target range
at a time other than the time at which the measurement is made. Specifically,
the ... 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 (Hardback); ... procedure.
3.3.2 Other Association Approaches
With the nearest-neighbor approach described above a decision is made relative
to which track a detection is to be associated with at the time of the update, a
decision...
... 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 (Hardback); ... semi-infinite
set of measurements. For example, if the latest measurement is at time n and the
target made a turn at data sample n-10, then we do not want the samples prior
to the n À 10 affecting the...
... estimate X
Ã
nþ1;nþ1
from the set of data 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); ... vector at time
n À i, be linearly related to X
nÀi
in the error-free situation. The Y
nÀi
can be
made up to multiple measurements obtained at the time n À i as in (4.1-1a)
instead of a single measurement ... the
minimum-variance estimate of X
Ã
nþ1;nþ1
using Y
nþ1
and X
Ã
n;n
together with their
variances. No use is made of the original data set Y
ðnÞ
. This says that the
estimate X
Ã
n;n
and its covariance matrix...