An extension to the Frenet-Serret and Bishop invariant extended Kalman filters for tracking accelerating targets

This paper presents an extension to the original Frenet-Serret and Bishop frame target models used in the invariant extended Kalman filter (IEKF) to account for tangential accelerations for highly-manoeuvrable targets. State error propagation matrices are derived for both IEKFs and used to build the...

Full description

Saved in:
Bibliographic Details
Published in2022 Sensor Signal Processing for Defence Conference (SSPD) pp. 1 - 5
Main Authors Gibbs, Joe, Anderson, David, MacDonald, Matt, Russell, John
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.09.2022
Subjects
Bishop frame
Estimation
Filtering algorithms
Frenet-Serret
Kalman filter
Kalman filters
Lie groups
Signal processing
Signal processing algorithms
Target tracking
Trajectory
Online AccessGet full text
DOI10.1109/SSPD54131.2022.9896179

Cover

More Information
Summary:This paper presents an extension to the original Frenet-Serret and Bishop frame target models used in the invariant extended Kalman filter (IEKF) to account for tangential accelerations for highly-manoeuvrable targets. State error propagation matrices are derived for both IEKFs and used to build the accelerating Frenet-Serret (FSa-LIEKF) and Bishop (Ba-LIEKF) algorithms. The filters are compared to the original Frenet-Serret and Bishop algorithms in a tracking scenario featuring a target performing a series of complex manoeuvres. The accelerating forms of the LIEKF are shown to improve velocity estimation during non-constant velocity trajectory segments at the expense of increased noise during simpler manoeuvres.
DOI:10.1109/SSPD54131.2022.9896179