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Tomasz Neumann
 

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TransNav, Faculty of Navigation
Gdynia Maritime University
3, John Paul II Avenue
81-345 Gdynia, POLAND
www http://www.transnav.eu
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A Study of Optimization of Alpha-Beta-Gamma-Eta Filter for Tracking a High Dynamic Target
1 Korea Maritime University, Busan, Korea
2 Jomo Kenyatta University of Agriculture and Technology, Nairobi, Kenya
ABSTRACT: The tracking filter plays a key role in accurate estimation and prediction of maneuvering vessel?s position and velocity. Different methods are used for tracking. However, the most commonly used method is the Kalman filter and its modifications. The Alpha-Beta-Gamma filter is one of the special cases of the general solution pro-vided by the Kalman filter. It is a third order filter that computes the smoothed estimates of position, velocity and acceleration for the nth observation, and also predicts the next position and velocity. Although found to track a maneuvering target with a good accuracy than the constant velocity, Alpha-Beta filter, the Alpha-Beta-Gamma filter does not perform impressively under high maneuvers such as when the target is undergoing changing accelerations. This study, therefore, aims to track a highly maneuvering target experiencing jerky motions due to changing accelerations. The Alpha-Beta-Gamma filter is extended to include the fourth state that is, constant jerk to correct the sudden change of acceleration in order to improve the filter?s performance. Results obtained from simulations of the input model of the target dynamics under consideration indicate an improvement in performance of the jerky model, Alpha-Beta-Gamma-Eta, algorithm as compared to the constant acceleration model, Alpha-Beta-Gamma in terms of error reduction and stability of the filter during target maneuver.
REFERENCES
Brookner, E. (1998). Tracking and Kalman filtering made easy. New York, Wiley.
Chen L., Wu, X.J., Wang, S.T., Yang J.Y. 2008. New Constant Gain Algorithm for Maneuvering Target Tracking α-β-γ-δ Model. Journal of System Simulation Vol 20 (17).
Mehrotra, K. & Mahapatra, P.R. 1997. A Jerk Model for Tracking Highly Maneuvering Targets. IEEE Transactions on Aerospace and Electronic Systems 33 (4): Pp. 1094-1105.
Njonjo, A.W., Pan, B.F. & Jeong, T.G. 2016. A Basic Study on Development of a Tracking Module for ARPA system for Use on High Dynamic Warships Journal of Navigation and Port Research Vol.40 (2): pp.83-87
Pan, B.F., Njonjo, A.W. & Jeong, T.G. 2016. Basic Study of the Optimization of the Gain Parameters α, β and γ of a Tracking Module for ARPA system on Board High Dynamic Warships Journal of Navigation and Port Research Vol.40 (5): pp.241-247.
Wu, C.M., Chang, C.K., & Chu, T.T. 2011. A new EP-based α-β-γ-σ filter for target tracking. Mathematics and Computers in Simulation. 81: 1785-1794.
Citation note:
Jeong T.G., Pan B.F., Njonjo A.W.: A Study of Optimization of Alpha-Beta-Gamma-Eta Filter for Tracking a High Dynamic Target. TransNav, the International Journal on Marine Navigation and Safety of Sea Transportation, Vol. 11, No. 1, doi:10.12716/1001.11.01.04, pp. 49-53, 2017

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