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dc.date.accessioned2013-03-12T08:33:18Z
dc.date.available2013-03-12T08:33:18Z
dc.date.issued2010en_US
dc.date.submitted2010-06-28en_US
dc.identifier.citationJansberg, Rune. Tracking of an Airplane using EKF and SPF. Masteroppgave, University of Oslo, 2010en_US
dc.identifier.urihttp://hdl.handle.net/10852/10968
dc.description.abstractThe main purpose of this thesis is comparing two non-linear filters in target tracking using radar measurements. These two filters are Extended Kalman filter (EKF) and Sigma Point filter (SPF). This task was given by Kongsberg Defence Systems (KDS). Kongsberg Defense Systems use radars and recursive filters to track airplanes. Sigma Point filter (SPF), also known as the Unscented Kalman filter (UKF), and the Extended Kalman filter have been compared to each other, looking at performance of estimating states and parameters from radar measurements in spherical coordinates. Airplane trajectories with perturbations in the horizontal plane and pertubations in both horizontal and vertical plane as sines and cosines respectively have been estimated. Estimating trajectories are often related to, including estimating the states, to estimate system parameters as well. The filters have been compared using both unknown and known process models. Three scenarios have been modelled where the airplane is heading towards the radar from east, from north east and north against east away from the radar. In addition an object falling through the atmosphere straight above the radar have been looked into. Matlab have been used for the simulations. A theoretical evaluation of EKF and SPF are presented indicating that SPF will performe better than EKF. This is later confirmed with simulations. SPF gives better estimates than EKF estimating the states of the airplane with both linear and non-linear process filter models. Parameters related to the airplane motion are heading angle and angular velocity. The angular velocity are estimated using Multiple Signal Classification (MUSIC). This was done mainly because it was found that the filters had problems estimating the frequancy needed to compute the angular velocity. Heading angle are estimated by use of a relation in the filters measurement equation giving information needed for the filters. SPF is concluded being the best choice in target tracking of airplanes simulated in this thesis. The same conclusions have been made for the falling body scenario, where SPF performed slightly better than EKF.eng
dc.language.isoengen_US
dc.titleTracking of an Airplane using EKF and SPFen_US
dc.typeMaster thesisen_US
dc.date.updated2012-01-19en_US
dc.creator.authorJansberg, Runeen_US
dc.subject.nsiVDP::430en_US
dc.identifier.bibliographiccitationinfo:ofi/fmt:kev:mtx:ctx&ctx_ver=Z39.88-2004&rft_val_fmt=info:ofi/fmt:kev:mtx:dissertation&rft.au=Jansberg, Rune&rft.title=Tracking of an Airplane using EKF and SPF&rft.inst=University of Oslo&rft.date=2010&rft.degree=Masteroppgaveen_US
dc.identifier.urnURN:NBN:no-29250en_US
dc.type.documentMasteroppgaveen_US
dc.identifier.duo104006en_US
dc.contributor.supervisorÅge Skullestad, Oddvar Hallingstaden_US
dc.identifier.bibsys120130254en_US
dc.identifier.fulltextFulltext https://www.duo.uio.no/bitstream/handle/10852/10968/16/TrackingxofxanxairplanexusingxEKFxandxSPFx-xJansberg.pdf


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