Department of Biomedical Engineering and Computational Science

Bearings Only Tracking of a Manouvering Target, 'botm_demo'

In this demonstration the linear measurement model on coordinated turn model demonstration is replaced with nonlinear bearings-only measurement model.

The target trajectory is the same as in the coordinated turn model demonstration. The measurement are produced by four sensors, which are shown in the figure 1.

The filtered and smoothed estimates for target's position are shown figure 2. The results are similar to the ones in the coordinated turn model demonstration.

Figure 3 shows the filtered and smoothed estimates of the turning model's probability on each time step. The filtered and smoothed estimates for the turn rate parameter are shown in figure 4. The results are similar to the ones in the coordinate turn model demonstration.

See the documentation for further discussion.

Files used in this example:

F_TURN
F_TURN_DX
F_TURN_INV
CT_DEMO
Dynamic model function for the coordinated turn model
Jacobian of the coordinated turn model's dynamic model
Inverse dynamics of the coordinated turn model
Coordinated Turn Model demonstration
Figure 1

Figure 1. Target trajectory and the generated measurements. The red circle marks the starting point of the target.

Figure 1

Figure 2. Estimates produced by EKF, IMM-EKF and IMM-UKf as well as their smoother counterparts.

Figure 1

Figure 3. Filtered and smoothed probabilities for the coordinated turn model on each sampling period produced by the IMM-EKF and IMM-UKF.

Figure 1

Figure 4. Filtered and smoothed estimates for the turn rate parameter on each sampling period.