A Recursive Least Squares Solution to Bearing-only Tracking

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Hejazi Kookamari, Farzam | 2013

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Type of Document: M.Sc. Thesis
Language: Farsi
Document No: 44531 (05)
University: Sharif University of Technology
Department: Electrical Engineering
Advisor(s): Nayebi, Mohammd Mahdi
Abstract:
The conventional bearing-only tracking solutions are based on Kalman filter. Whenever the problem equations are nonlinear, Extended Kalman Filter (EKF) or more complicated methods are used necessarily. However, EKF suffers of being biased and unstable. Here a new recursive method based on a linear modeling of the problem is proposed, the method does not need an initial guess and outperforms the Kalman filter in the terms of accuracy, complexity and stability. Furthermore, input information needed for the proposed tracking filter is just the observer position, time and value of each angle measurements and the computation load is less than even a simple EKF. mathematical analysis, as well as simulations show that the proposed method in most cases results in estimation error in the vicinity of Cramer-Rao lower bound
Keywords:
Heading Angle ; Tracking ; Error Lower Bound ; Kalman Filters ; Least Squures Solution ; Recursive Least Square Estimation ; Cramer-Rao Bound

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