文章基本信息

标题：New Investigative Findings from the Debiased Converted-Measurement Kalman Filter
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作者：John N. Spitzmiller ; Reza R. Adhami
期刊名称：Intelligent Information Management
印刷版ISSN：2150-8194
电子版ISSN：2150-8208
出版年度：2010
卷号：2
期号：7
页码：431-436
DOI：10.4236/iim.2010.27053
出版社：Scientific Research Publishing
摘要：The original algorithm for the 2-D debiased converted-measurement Kalman filter (CMKF) specified, with incorrect mathematical justification, a requirement for evaluating the average true bias and covari-ance with the best available polar estimate, rather than exclusively with the polar measurement. Even though this original algorithm yields better tracking performance than the debiased-CMKF algorithm which evaluates the average true bias and covariance exclusively with the polar measurement, this paper shows the specified requirement compromises the statistical consistency between the debiased converted measurement’s error and the average true covariance. To resolve this apparent contradiction, this paper provides the correct empirical explanation for the tracking-performance improvement obtained by the specified requirement.
关键词：Tracking; Converted Measurements; Kalman Filter; Debiased CMKF; Polar-To-Cartesian Conversion