TITLE:
Fundamental Properties and Optimal Gains of a Steady-State Velocity Measured α-β Tracking Filter
AUTHORS:
Kenshi Saho
KEYWORDS:
α-β Filter, Moving Target Tracking, Velocity Measurement, Kalman Filter, Optimal Gain
JOURNAL NAME:
Advances in Remote Sensing,
Vol.3 No.2,
June
11,
2014
ABSTRACT: This paper clarifies the steady-state properties and performance of an α-β filter for moving target tracking using both position and velocity measurements.
We call this filter velocity measured α-β (VM-α-β) filter. We first
derive the stability condition and steady-state predicted errors as fundamental
properties of the VM-α-β filter. The optimal gains for
representative motion models are then derived from the Kalman filter equations.
Theoretical and numerical analyses verify that VM-α-β filters with these
optimal gains realize more accurate tracking than conventional α-β filters when the filter gains are relatively large. Our study reveals the
conditions under which the predicted errors of the VM-α-β filters are less than
those of conventional α-β filters. Moreover, numerical
simulations clarify that the variance of the tracking error of the VM-α-β filters is approximately 3/4 of that of the conventional α-β filters in realistic
situations, even when the accuracy of the position/velocity measurements is the
same.