Abstract:
The possibility of adapting and the effectiveness of using a linear pseudo-observation filter in a stochastic observation system model with random time delays between incoming observations and the actual state of a moving object is investigated. The pseudo-observation method is being modified to combine the results of observations performed by several measuring complexes located at different distances to the object and having different time delays. The filter is implemented in a model that takes into account measurements of directional angles and range. Experimental calculations were performed for a model example describing the movement of an autonomous underwater vehicle using two stationary acoustic beacons for positioning.
Keywords:stochastic system with random time delays of observations, linear pseudo-observations, Extended Kalman filter, positioning, target tracking, sonars
Presented by the member of Editorial Board:B. M. Miller
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