Nonlinear Bounded-Error Target State Estimation Using Redundant States

Persistent Link:
http://hdl.handle.net/10150/195557
Title:
Nonlinear Bounded-Error Target State Estimation Using Redundant States
Author:
Covello, James Anthony
Issue Date:
2006
Publisher:
The University of Arizona.
Rights:
Copyright © is held by the author. Digital access to this material is made possible by the University Libraries, University of Arizona. Further transmission, reproduction or presentation (such as public display or performance) of protected items is prohibited except with permission of the author.
Abstract:
When the primary measurement sensor is passive in nature--by which we mean that it does not directly measure range or range rate--there are well-documented challenges for target state estimation. Most estimation schemes rely on variations of the Extended Kalman Filter (EKF), which, in certain situations, suffer from divergence and/or covariance collapse. For this and other reasons, we believe that the Kalman filter is fundamentally ill-suited to the problems that are inherent in target state estimation using passive sensors. As an alternative, we propose a bounded-error (or set-membership) approach to the target state estimation problem. Such estimators are nearly as old as the Kalman filter, but have enjoyed much less attention. In this study we develop a practical estimator that bounds the target states, and apply it to the two-dimensional case of a submarine tracking a surface vessel, which is commonly referred to as Target Motion Analysis (TMA). The estimator is robust in the sense that the true target state does not escape the determined bounds; and the estimator is not unduly pessimistic in the sense that the bounds are not wider than the situation dictates. The estimator is--as is the problem itself--nonlinear and geometric in nature. In part, the simplicity of the estimator is maintained by using redundant states to parameterize the target's velocity. These redundant states also simplify the incorporation of other measurements that are frequently available to the system. The estimator's performance is assessed in a series of simulations and the results are analyzed. Extensions of the algorithm are considered.
Type:
text; Electronic Dissertation
Keywords:
target state estimation; target motion analysis; bearings-only ranging; bounded-error state estimation
Degree Name:
PhD
Degree Level:
doctoral
Degree Program:
Electrical & Computer Engineering; Graduate College
Degree Grantor:
University of Arizona
Advisor:
Strickland, Robin N.
Committee Chair:
Strickland, Robin N.

Full metadata record

DC FieldValue Language
dc.language.isoENen_US
dc.titleNonlinear Bounded-Error Target State Estimation Using Redundant Statesen_US
dc.creatorCovello, James Anthonyen_US
dc.contributor.authorCovello, James Anthonyen_US
dc.date.issued2006en_US
dc.publisherThe University of Arizona.en_US
dc.rightsCopyright © is held by the author. Digital access to this material is made possible by the University Libraries, University of Arizona. Further transmission, reproduction or presentation (such as public display or performance) of protected items is prohibited except with permission of the author.en_US
dc.description.abstractWhen the primary measurement sensor is passive in nature--by which we mean that it does not directly measure range or range rate--there are well-documented challenges for target state estimation. Most estimation schemes rely on variations of the Extended Kalman Filter (EKF), which, in certain situations, suffer from divergence and/or covariance collapse. For this and other reasons, we believe that the Kalman filter is fundamentally ill-suited to the problems that are inherent in target state estimation using passive sensors. As an alternative, we propose a bounded-error (or set-membership) approach to the target state estimation problem. Such estimators are nearly as old as the Kalman filter, but have enjoyed much less attention. In this study we develop a practical estimator that bounds the target states, and apply it to the two-dimensional case of a submarine tracking a surface vessel, which is commonly referred to as Target Motion Analysis (TMA). The estimator is robust in the sense that the true target state does not escape the determined bounds; and the estimator is not unduly pessimistic in the sense that the bounds are not wider than the situation dictates. The estimator is--as is the problem itself--nonlinear and geometric in nature. In part, the simplicity of the estimator is maintained by using redundant states to parameterize the target's velocity. These redundant states also simplify the incorporation of other measurements that are frequently available to the system. The estimator's performance is assessed in a series of simulations and the results are analyzed. Extensions of the algorithm are considered.en_US
dc.typetexten_US
dc.typeElectronic Dissertationen_US
dc.subjecttarget state estimationen_US
dc.subjecttarget motion analysisen_US
dc.subjectbearings-only rangingen_US
dc.subjectbounded-error state estimationen_US
thesis.degree.namePhDen_US
thesis.degree.leveldoctoralen_US
thesis.degree.disciplineElectrical & Computer Engineeringen_US
thesis.degree.disciplineGraduate Collegeen_US
thesis.degree.grantorUniversity of Arizonaen_US
dc.contributor.advisorStrickland, Robin N.en_US
dc.contributor.chairStrickland, Robin N.en_US
dc.contributor.committeememberGoodman, Nathan A.en_US
dc.contributor.committeememberTharp, Hal S.en_US
dc.identifier.proquest1498en_US
dc.identifier.oclc659746269en_US
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