Method of Kalman filtering for estimating the position and velocity of a tracked object
US5051751A · kind A · utility
Assignee
Inventor
Key dates
| Filing date | Feb 12, 1991 |
| Grant date | Sep 24, 1991 |
| Priority date | — |
| Expiry date | Feb 12, 2011 |
Classification
- Technology area (CPC H)Electricity
- CPC primaryH03H17/0257
- WIPO fieldMeasurement
- WIPO sectorInstruments
Abstract
A method of Kalman filtering for estimating the position and velocity of a racked object is provided. A Kalman filter is initialized with at least position and velocity error states in an inertial computational frame. Sensor measurements are used to develop a measured line-of-sight vector to the object. Matrix transformations are used to analytically rotate the sensor measurements into a measurement frame. The measurement frame is defined as having one axis pointing towards the estimated relative position of the object. The use of the measurement frame allows the method to be adaptable to any line-of-sight/computational frame geometry. Since statistical correlation of the measurements is not present in the measurement frame, the number of computations at each filter update is reduced.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.