An Extension to the Frenet-Serret and Bishop Invariant Extended Kalman Filters for Tracking Accelerating Targets

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)

[img] Text
284069.pdf - Accepted Version

1MB

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
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

University Staff: Request a correction | Enlighten Editors: Update this record