Method of Kalman filtering for estimating the position and veloc

Details Method of Kalman filtering for estimating the position and veloc Method of Kalman filtering for estimating the position and veloc

1991-02-12

1991-09-24

Hellner, Mark

Communications: directive radio wave systems and devices (e.g.,

Determining velocity

Combined with determining distance and direction

364516, G01S 922

Patent

active

050517511

ABSTRACT:
A method of Kalman filtering for estimating the position and velocity of a racked object is provided. A Kalman filter is initialized with at least position and velocity error states in an inertial computational frame. Sensor measurements are used to develop a measured line-of-sight vector to the object. Matrix transformations are used to analytically rotate the sensor measurements into a measurement frame. The measurement frame is defined as having one axis pointing towards the estimated relative position of the object. The use of the measurement frame allows the method to be adaptable to any line-of-sight/computational frame geometry. Since statistical correlation of the measurements is not present in the measurement frame, the number of computations at each filter update is reduced.

REFERENCES:
patent: 4179696 (1979-12-01), Quesinberry et al.
patent: 4855932 (1989-08-01), Cangiani et al.
patent: 4883244 (1989-11-01), Challoner et al.

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