| Presentation | 2002/1/18 A Kalman Estimator using Two Directions of Angular Velocity Daisuke Kawamoto, Masataka Hashirao, Tetsuya Kawase, Reiji Satoh, Iwao Sasase, |
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| PDF Download Page | PDF download Page Link |
| Abstract(in Japanese) | (See Japanese page) |
| Abstract(in English) | In previous research, a kalman tracker with a turning acceleration estimator is presented in order to track a maneuvering target. In turning acceleration estimator, the target trajectory is approximated by circle and turning acceleration is estimated from estimated radius, center of the circle and angular velocity. Then a change of velocity vector is expressed by turning acceleration. However, estimated radius and center of the circle include large errors, As the results, accurate turning acceleration cannot be estimated and tracking performance is degraded. In this paper, a Kalman estimator using two directions of angular velocity is presented. Proposed tracking filter calculate two directions of angular velocity from the difference of last three observation data. Furthermore, a change of velocity vector can be expressed without acceleration term. Then estimated error of radius and center of the circle can be eliminated and good tracking performance could be obtained. Simulation results show the effectiveness of our proposed tracking filter compared with conventional tracking filters. |
| Keyword(in Japanese) | (See Japanese page) |
| Keyword(in English) | constant velocity and angular velocity prediction / two directions of angular velocity / velocity vector |
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| Conference Information | |
| Committee | SANE |
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| Conference Date | 2002/1/18(1days) |
| Place (in Japanese) | (See Japanese page) |
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| Topics (in Japanese) | (See Japanese page) |
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| Registration To | Space, Aeronautical and Navigational Electronics (SANE) |
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| Language | JPN |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | A Kalman Estimator using Two Directions of Angular Velocity |
| Sub Title (in English) | |
| Keyword(1) | constant velocity and angular velocity prediction |
| Keyword(2) | two directions of angular velocity |
| Keyword(3) | velocity vector |
| 1st Author's Name | Daisuke Kawamoto |
| 1st Author's Affiliation | Dept.of Information and Computer Science, Keio University() |
| 2nd Author's Name | Masataka Hashirao |
| 2nd Author's Affiliation | Dept.of Information and Computer Science, Keio University |
| 3rd Author's Name | Tetsuya Kawase |
| 3rd Author's Affiliation | Information Technology R&D Center, Mitsubishi Corporation |
| 4th Author's Name | Reiji Satoh |
| 4th Author's Affiliation | Dept.of Information and Computer Science, Keio University |
| 5th Author's Name | Iwao Sasase |
| 5th Author's Affiliation | Dept.of Information and Computer Science, Keio University |
| Date | 2002/1/18 |
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| Volume (vol) | vol.101 |
| Number (no) | 608 |
| Page | pp.pp.- |
| #Pages | 8 |
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