Department of Biomedical Engineering and Computational Science

Bearings Only Tracking demonstration, 'bot_demo'

In this demonstration we track a moving object with two sensors, which measure only the angles between the object and them, that is, the measurement model is nonlinear. Figure 1 shows the measurements made by the sensors in one simulation run. The dynamics of the object are modelled with Wiener velocity model, which means that the velocity of the object is perturbed with Gaussian noise.

In figures 2, 3 and 4 we have plotted the estimates produced by first and second order EKF and UKF as well as their smoother counterparts. See the documentation for discussion.

Files used in this example:

BOT_H
BOT_DH_DX
BOT_D2H_DX2
BOT_DEMO_ALL
EKFS_BOT_DEMO
UKFS_BOT_DEMO
Measurement model function
Jacobian of the measurement model
Hessian of the measurement model
Bearings Only Tracking demonstration with EKF and UKF
Bearings Only Tracking demonstration with EKF
Bearings Only Tracking demonstration with UKF
Figure 1

Figure 1. Measurements from sensors in radians.

Figure 2

Figure 2. Filtering and smoothing results of first order EKF.

Figure 3

Figure 3. Filtering and smoothing results of second order EKF.

Figure 4

Figure 3. Filtering and smoothing results of UKF.