dc.date.accessioned | 2013-03-12T08:33:18Z | |
dc.date.available | 2013-03-12T08:33:18Z | |
dc.date.issued | 2010 | en_US |
dc.date.submitted | 2010-06-28 | en_US |
dc.identifier.citation | Jansberg, Rune. Tracking of an Airplane using EKF and SPF. Masteroppgave, University of Oslo, 2010 | en_US |
dc.identifier.uri | http://hdl.handle.net/10852/10968 | |
dc.description.abstract | The 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.iso | eng | en_US |
dc.title | Tracking of an Airplane using EKF and SPF | en_US |
dc.type | Master thesis | en_US |
dc.date.updated | 2012-01-19 | en_US |
dc.creator.author | Jansberg, Rune | en_US |
dc.subject.nsi | VDP::430 | en_US |
dc.identifier.bibliographiccitation | info: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=Masteroppgave | en_US |
dc.identifier.urn | URN:NBN:no-29250 | en_US |
dc.type.document | Masteroppgave | en_US |
dc.identifier.duo | 104006 | en_US |
dc.contributor.supervisor | Åge Skullestad, Oddvar Hallingstad | en_US |
dc.identifier.bibsys | 120130254 | en_US |
dc.identifier.fulltext | Fulltext https://www.duo.uio.no/bitstream/handle/10852/10968/16/TrackingxofxanxairplanexusingxEKFxandxSPFx-xJansberg.pdf | |