Enhanced Local Positioning Radar with Predictive Filters

This paper presents two adaptive recursive tracking techniques for precisely localizing a mobile vehicle in an indoor industrial environment. An Extended Kalman Filter (EKF) and Unscented Kalman Filter (UKF), the corresponding algorithms and mathematical models are presented and analysed. Experimental range measurements generated from local positioning radar system are used to test the performance of these algorithms with respect to position and velocity root mean square errors. True and estimated trajectories of the mobile vehicle with associated means and error covariances are illustrated with the number of samples required in each case. Results obtained show that UKF outer performs EKF with respect to positioning accuracy and root mean square error. Both filters show comparable computational complexity with more robustness obtained by applying UKF for non linear estimation since there are no linearization errors as in the case of EKF.