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Intelligent tracking algorithm for manoeuvering target using Kalman filter with fuzzy gain

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3 Author(s)
Noh, S.Y. ; Dept. of Electr. & Electron. Eng., Yonsei Univ., Seoul ; Park, J.B. ; Joo, Y.H.

An intelligent filter with fuzzy gain is proposed, which calculates a manoeuver input into the time-varying variance of the overall process noise and compensates an estimation error by using a fuzzy gain. The proposed technique not necessary to predesign the acceleration levels according to the target manoeuver properties. The manoeuver input is esitmated using the difference between the non-manoeuvering filter and the manoeuvering one. To compensate the estimation error, the fuzzy gain is used to describe the relationship between the filter residual and its variation. A fuzzy system is utilised for an universal approximator. It is optimised by using a genetic algorithm. A computer simulations show that the effectiveness of the proposed method is compared with multiple filters.

Published in:

Radar, Sonar & Navigation, IET  (Volume:1 ,  Issue: 3 )