Electrical and Electronic Engineering - Theses

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Bearings only tracking

Logothetis, Andrew ( 1994)

This thesis addresses the problem of tracking a single target when only bearing information is available from the sensor. The aim is to determine target information, such as heading, speed and position. A number of existing techniques are described. A new HMM based algorithm is proposed as a solution to the bearings only tracking problem. Track initiation, maintenance and termination are automatically provided in the HMM framework. The key issue of the new algorithm is the representation of a continuous state process, such as target position and velocity, using a discrete time finite state process. Rules and assumptions for constructing a finite state HMM are presented. Bearing measurement imperfections are modeled by additive white noise with state dependent standard deviation reflecting the target-observer geometry. Observer maneuvering strategies, that assist in the quality of track, are not addressed. A large number of simulations have been performed and the results show the excellent tracking capability of the new algorithm.