An Adaptive Kalman Filter Tracker for Multi-Mode Range/Doppler Sonar
Abstract
This document presents the use of Kalman filter methods for making optimum use of incoming range and doppler information in determining a target track. Specifically, it (1) illustrates the fundamental application of linear Kalman filter mathematics; (2) expands the matrix equations to show the form and characteristics of the filter; (3) shows two methods of making the filter adaptive to target maneuvers through use of statistical properties of the measurement residuals; and (4) presents a means of using the uncertainty matrix of the tracker to select the optimum waveform for the subsequent ping, when the desire is to minimize the range error at some future time.
Document Details
- Document Type
- Technical Report
- Publication Date
- Mar 05, 1977
- Accession Number
- ADA037800
Entities
People
- C. N. Pryor
Organizations
- Naval Underwater Systems Center