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... the echo from target 1 on the second scan with the echo from3Tracking and Kalman Filtering Made Easy. Eli BrooknerCopyright # 1998 John Wiley & Sons, Inc.ISBNs: 0-471-18407-1 (Hardback); ... of freedom in choice of the magnitude of nþ1;nrelative to bÃ.They could be made about equal or one could be made much smaller than theother. Generally, making one much smaller than the other ... constant; then the prediction of the targetposition (range) and velocity at the second scan can be made using thefollowing simple target equations of motion:xnþ1¼ xnþ T_xnð1:1-1aÞ_xnþ1¼_xnð1:1-1bÞwhere...
... estimated. The measurements made on the target at time n are given by the measurement matrix Yn. As indicated inSection 1.5, the measurements made on the target need not be made in the samecoordinate ... constant-velocity trajectory model with a random-walk velocity.64Tracking and Kalman Filtering Made Easy. Eli BrooknerCopyright # 1998 John Wiley & Sons, Inc.ISBNs: 0-471-18407-1 (Hardback); ... XÃn;n. Again the weighting of theseerrors will be made according to their importance. The more important an erroris, the smaller it will be made. An error is deemed to be more important if it...
... range–Doppler ambiguity can be made into anonproblem in those situations where it is satisfactory to know the target rangeat a time other than the time at which the measurement is made. Specifically,the ... Figure 3.1-1 for spiky sea clutter, rain clutter, lognormal111Tracking and Kalman Filtering Made Easy. Eli BrooknerCopyright # 1998 John Wiley & Sons, Inc.ISBNs: 0-471-18407-1 (Hardback); ... procedure.3.3.2 Other Association ApproachesWith the nearest-neighbor approach described above a decision is made relativeto which track a detection is to be associated with at the time of the update, adecision...
... is,Yn¼y0y1...yr266664377775nð4:1-1aÞXn¼x0ðtÞx1ðtÞ...xmÀ1ðtÞ266664377775ð4:1-1bÞ155Tracking and Kalman Filtering Made Easy. Eli BrooknerCopyright # 1998 John Wiley & Sons, Inc.ISBNs: 0-471-18407-1 (Hardback); ... MÈÀL26666666643777777775|fflfflfflfflfflfflffl{zfflfflfflfflfflfflffl}m09>>>>>>>>=>>>>>>>>;s ð4:1-11bÞEquation (4.1-1) is the measurement equation when the measurement isonly made at a single time. Equation (4.1-11) represents the correspondingmeasurement equation when ... usually the case, the target echo fading atrandom times so that at these times no observation is made of yiat these times i.In this practical case T is not known in advance.ORTHONORMAL TRANSFORMATION...
... lastobservation time at which a measurement was made. The subscript n on½ pðtÞnsimilarly is used to indicate that n is the last time a measurement was made. Let t ¼ rT. Then (5.2-2) becomesp¼ ... Legendre orthogonal polynomial fit approach will beobtained.205Tracking and Kalman Filtering Made Easy. Eli BrooknerCopyright # 1998 John Wiley & Sons, Inc.ISBNs: 0-471-18407-1 (Hardback); ... S)218FIXED-MEMORY POLYNOMIAL FILTERwhere for simplicity the subscript n on aihas been dropped. It is next easy toshow for m ¼ 2 that the transition matrix È that goes from the state Xnto Xnþ1is given...
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