| Title |
A Study on The Real Time High-Speed Target Tracking Method Using Sigma Point Approximation UKF |
| Authors |
백정부(Jeong Bu Baek) ; 노태수(Tae Soo No) |
| DOI |
https://doi.org/10.5573/ieie.2020.57.7.67 |
| Keywords |
Tracking Method; Kalman Filter; Unscented Kalman Filter; Sigma Point Approximation |
| Abstract |
A real-time estimation technique is required to estimate the vehicle position from noisy data for range control of high speed launched vehicle as space launcher and guided missile. Kalman filter has shown many theoretical developments and applications in the position tracking since Rudolf Kalman published in 1976, and is typically used as LKF, EKF and UKF. In this study, a theoretical study was carried out to apply the Bayesian Estimation technique, Linear and Nonlinear Kalman Filter, to the real-time tracking of the high speed launched vehicle. In this paper we applied EKF and UKF to the position tracking of the high speed launched vehicle and proposed an improved Sigma Point Approximation UKF(AUKF). UKF is a nonlinear Kalman Filter that can be applied to Non-Gaussian and Non-Linear system using multiple sigma points, but has the disadvantage of increasing the numerical calculation of multiple sigma points. AUKF with sigma point estimation method has slightly lower performance compare to UKF, but good performance at the computational times. |