Use of pseudo measurement to real-time target tracking

Yaping Dai*, Kotaro Hirasawa, Junichi Murata, Jinglu Hu, Chunzhi Jin, Zhen Liu

*Corresponding author for this work

Research output: Contribution to journalConference articlepeer-review

2 Citations (Scopus)


In this paper, a pseudo measurement model is adopted to deal with the Kalman filter problem with color measurement noise. It is assumed that the measurement noise is color, and be described by AR(n) model. The state equation is set up according to Singer's model. The measurement equation is set up in polar coordinate and the range rate measurement is combined with ordinary data (i.e. there are four measurement data now: range r, azimuth θa, elevation θe and range rate r). By means of proper coordinate transformation, the matrix of Kalman gain and the matrix of filter error covariance will be decoupled. So that the computing requirement of the algorithm will be reduced and can be performed in real time.

Original languageEnglish
Pages (from-to)V-33 - V-38
JournalProceedings of the IEEE International Conference on Systems, Man and Cybernetics
Publication statusPublished - 1999
Externally publishedYes
Event1999 IEEE International Conference on Systems, Man, and Cybernetics 'Human Communication and Cybernetics' - Tokyo, Jpn
Duration: 1999 Oct 121999 Oct 15

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Hardware and Architecture


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