State estimation in range coordinate using range-only measurements  

作　　者：LI Keyi GUO Zhengkun ZHOU Gongjian 

机构地区：[1]School of Electronics and Information Engineering,Harbin Institute of Technology,Harbin 150001,China

出　　处：《Journal of Systems Engineering and Electronics》2022年第3期497-510,共14页系统工程与电子技术（英文版）

基　　金：This work was supported by the National Natural Science Foundation of China(61671181,62101162).

摘　　要：In some tracking applications,due to the sensor characteristic,only range measurements are available.If this is the case,due to the lack of full position measurements,the observability of Cartesian states(e.g.,position and velocity)are limited to particular cases.For general cases,the range measurements can be utilized by developing a state estimation algorithm in range-Doppler(R-D)plane to obtain accurate range and Doppler estimates.In this paper,a state estimation method based on the proper dynamic model in the R-D plane is proposed.The unscented Kalman filter is employed to handle the strong nonlinearity in the dynamic model.Two filtering initialization methods are derived to extract the initial state estimate and the initial covariance in the R-D plane from the first several range measurements.One is derived based on the well-known two-point differencing method.The other incorporates the correct dynamic model information and uses the unscented transformation method to obtain the initial state estimates and covariance,resulting in a model-based method,which capitalizes the model information to yield better performance.Monte Carlo simulation results are provided to illustrate the effectiveness and superior performance of the proposed state estimation and filter initialization methods.

关 键 词：range-only measurement state estimation filter initialization target tracking unscented Kalman filter(UKF) 

分 类 号：TP212[自动化与计算机技术—检测技术与自动化装置] TN713[自动化与计算机技术—控制科学与工程]