Target tracking algorithm with range rate under the color measurement environment

Y. P. Dai*, C. Z. Jin, J. L. Hu, K. Hirasawa, Z. Liu

*Corresponding author for this work

Research output: Contribution to conferencePaperpeer-review

14 Citations (Scopus)


In this paper a new observation model is presented to improve the state estimation and prediction in a target tracking problem. Comparing with conventional approaches, the following are distinguished points of the approach. First, the measurement equation is set up in the polar coordinate and even combines the range rate measurement with the usual position measurements (i.e. range, azimuth, elevation angle, range rate). Second, the observation noise of sensor data is considered as a colored one, so new linear state and observation equation can be obtained by incorporating the noise vector into the state vector, which satisfy the requirement of Kalman filter. As a result, the accuracy of both the measurement and the prediction will be increased.

Original languageEnglish
Number of pages4
Publication statusPublished - 1999
Externally publishedYes
EventProceedings of the 1999 38th SICE Annual Conference - Morioka, Jpn
Duration: 1999 Jul 281999 Jul 30


OtherProceedings of the 1999 38th SICE Annual Conference
CityMorioka, Jpn

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering


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