Gibbs, J. , Anderson, D. , MacDonald, M. and Russell, J. (2022) An Extension to the Frenet-Serret and Bishop Invariant Extended Kalman Filters for Tracking Accelerating Targets. In: 2022 Sensor Signal Processing for Defence Conference (SSPD), London, UK, 13-24 Sep 2022, ISBN 9781665483483 (doi: 10.1109/SSPD54131.2022.9896179)
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Abstract
This paper presents an extension to the original Frenet-Serret and Bishop frame target models used in the invariant extended Kalman filter (IEKF) to account for tangential accelerations for highly-manoeuvrable targets. State error propagation matrices are derived for both IEKFs and used to build the accelerating Frenet-Serret (FSa-LIEKF) and Bishop (Ba-LIEKF) algorithms. The filters are compared to the original Frenet-Serret and Bishop algorithms in a tracking scenario featuring a target performing a series of complex manoeuvres. The accelerating forms of the LIEKF are shown to improve velocity estimation during non-constant velocity trajectory segments at the expense of increased noise during simpler manoeuvres.
Item Type: | Conference Proceedings |
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Additional Information: | This work is partly supported by PhD funding from Leonardo UK. |
Status: | Published |
Refereed: | Yes |
Glasgow Author(s) Enlighten ID: | Gibbs, Joe and Anderson, Dr David |
Authors: | Gibbs, J., Anderson, D., MacDonald, M., and Russell, J. |
Subjects: | T Technology > TL Motor vehicles. Aeronautics. Astronautics U Military Science > U Military Science (General) |
College/School: | College of Science and Engineering > School of Engineering > Autonomous Systems and Connectivity |
Research Group: | Intelligent Systems |
ISBN: | 9781665483483 |
Published Online: | 23 September 2022 |
Copyright Holders: | Copyright © 2022 IEEE |
First Published: | First published in 2022 Sensor Signal Processing for Defence Conference (SSPD) |
Publisher Policy: | Reproduced in accordance with the publisher copyright policy |
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