Using Observation Angle Data for Position Determination of Objects

This paper, provides tracking of moving targets in plane, based on observation angle data. Presented viewpoint is applicable in terrestrial and marine target tracking. Here, in order to overcome measurements noise, common estimation filters including, first and second order extended kalman filter(EKF1 & EKF2), unscented kalman filter(UKF) and smoothing filters is used, to achieve accurate estimation of target position. In order to demonstrate performance of mentioned filters, tracking of a marine target in the path of the Persian Gulf to Oman Sea is simulated. Monte Carlo simulations express identical performance of EKF1, EKF2 and UKF. Also it is revealed that using smoothing filters is resulted in more accurate estimation about three times. Finally due to system dynamic and considering accuracy and processing volume, EKF1 with smoothing filter is proposed for tracking of moving targets.