Följefilterkonstruktion till elektrooptiskt sikte
Independent thesis Advanced level (professional degree), 20 credits / 30 HE creditsStudent thesis
The purpose of this work is to provide enhanced understanding of the balance between target tracking filter performance, hardware performance and software performance. An important condition for the problem is that the sensor platform that gives the angles and the distance to a target, gives the distance measurements with much lower sampling rate than the measurements of the angles. In this work, a simulation environment, different target tracking filters, and evaluation methods for performance and computational complexity are created. Three different target tracking filters are developed and tested. The first one is simple and is used as a reference when evaluating the more advanced filtering algorithms. The second one is constructed from several connected Kalman filters, and the third one is an extended Kalman filter. Simulations shows that the tracking filters that gives better performance have a higher computational complexity. The second and the third algorithm use the change of the angles to the target to estimate how the distance to the target changes. Those algorithms can with limited performance estimate position and velocity of a target after only one distance measurement. Regarding the sampling rate of the distance measurements, it is concluded that a deeper study is needed on how to make best use of a higher sampling rate. Simulations show that the time between the first and the last used distance measurement seems to be an important factor for the resulting performance.
Place, publisher, year, edition, pages
2011. , 35 p.
Teknik, kalmanfilter, målföljning
IdentifiersURN: urn:nbn:se:ltu:diva-42341Local ID: 05c9108a-a9cb-4668-892a-eba908d465a7OAI: oai:DiVA.org:ltu-42341DiVA: diva2:1015561
Subject / course
Student thesis, at least 30 credits
Electrical Engineering, master's level
Johansson, AndreasHellberg, Daniel
Validerat; 20110513 (anonymous)2016-10-042016-10-04Bibliographically approved