Bearing only Tracking of Maneovuring Targets Using a Single Coordinated Turn Model

Abstract

The passive tracking of manoeuvring objects using line of sight (LOS) angle measurements only is an important field of research in the application areas of submarine tracking, aircraft surveillance, autonomous robotics and mobile systems. In this paper, the tracking of target dynamics is treated as a system identification problem. We propose to use the coordinated turn (CT) model along with extended Kalman filter to track all possible dynamics such as velocity, acceleration and coordinated turn of manoeuvring targets. Simulations are used to demonstrate the effectiveness of this approach and the results obtained are promising.