The over-extended Kalman filter - don't use it!

@article{Bizup2003TheOK,
  title={The over-extended Kalman filter - don't use it!},
  author={David Bizup and Donald E. Brown},
  journal={Sixth International Conference of Information Fusion, 2003. Proceedings of the},
  year={2003},
  volume={1},
  pages={40-46}
}
Radar range rate measurements are not always used in target tracking filters because they are highly nonlinear in Cartesian space. A linear approxi- mation of range rate composed of its partial derivatives with respect to the track state vector is sometimes used in the measurement equation of an Extended Kalman filter. Unfortunately, this naive linearization can de- grade the filter's position estimates. The origins of this phenomenon are investigated and found to lie in the functional… CONTINUE READING

Citations

Publications citing this paper.
SHOWING 1-10 OF 43 CITATIONS

Exploitation of bistatic doppler measurements in multistatic tracking

  • 2007 10th International Conference on Information Fusion
  • 2007
VIEW 7 EXCERPTS
CITES METHODS & BACKGROUND
HIGHLY INFLUENCED

A COLLISION AVOIDANCE SYSTEM FOR AUTONOMOUS UNDERWATER VEHICLES

VIEW 4 EXCERPTS
CITES METHODS & BACKGROUND
HIGHLY INFLUENCED

Modified gain pseudo-measurement filter design for radar target tracking with range rate measurement

  • 2017 25th Mediterranean Conference on Control and Automation (MED)
  • 2017
VIEW 1 EXCERPT
CITES BACKGROUND

References

Publications referenced by this paper.
SHOWING 1-4 OF 4 REFERENCES

Combined Kalman Filter and J V C Algorithms for A E W Target Tracking Applications

R. Schutz, R. McAllister, B. Engleberg
  • SPIE Conference on Signal and Data Processing of Small Targets vol. 3163,
  • 1997