www.tjprc.org editor@tjprc.

org
International Journal of Electronics,
Communication& Instrumentation Engineering
Research and Development (IJECIERD)
ISSN(P): 2249-684X; ISSN(E): 2249-7951
Vol. 4, Issue 2, Apr 2014, 183-186
TJPRC Pvt. Ltd.

TRACKING NONLINEAR OBJECT AND ITS PARAMETER
PANDHARINATH A. GHONGE & KUSHAL TUCKLEY

Department of Electronics Engineering, Ramrao Adik Inst of Technology, Navi Mumbai, Maharashtra, India

ABSTRACT
A kalman filter as predictor for moving target devolved to detect & parameters like velocity, acceleration and
displacement tracked. The approaches of target detection using barker code length with autocorrelation decide sharpness.
The parameters of tacking target are predicted. At each epoch time average the sum of Diagonal element of covariance
matrix for innovation is computed and compared with the dynamic ballistic missile. If the difference is high than
predetermined level, the scale factor is set to update. Some computer result is carried out to compare the performance
Kalman filter.
KEYWORDS: Radar Target Identification, Additive Noise, State Measurement
INTRODUCTION
Radar posses unique and valuable attributes, there are some factors that can render information incomplete (03).
The structure for the theory of Radar Target Identification (RTID).Radar signal processing consists of digital pulse
compression using Barker code of sufficient length detect target. SNR estimation and ECM features like improving SNR in
hostile environment (04). The approach is to estimate process noise variance by means of scale factor (04) (05). and,
tracking algorithm using Kalman filter nonlinear target like ballistic and reentry space vehicles are presented.
The simulation result demonstrates that the Kalgan filter is most robust to the sudden changes of the target.
Target Detection
The pulse compression correlates the receive signal to a delayed copy of that which was transmitted Barker
sequences are unique with specific length can contains absolute values, 0, 1, for N bits in the sequence. and thus yield the
best resolution for a given transmitted bandwidth (04) (05 that allowing secure enciphering Bits increases S/N ratio
increases.

Figure 1: Autocorrelation of One of the 35- Bits
184 Pandharinath A. Ghonge & Kushal Tuckley

Impact Factor (JCC): 4.9467 Index Copernicus Value (ICV): 3.0
Tracking System
Tracking is the process whereby the radar follows the position of one or more objects in space, are only samples
for every few seconds, with no knowledge of target maneuvering between scans (04) (08). Two types of tracking radars
that can provide the tracks of targets, (TWS) and Full track adar. as shown in Figure 2.

Figure 2: Tracking Mechanism
The Kalman Filtering The Kaman filter used is recursive. Considering with states
p(k) (k)
1
x =
for the range
and
(k) (k)
2
x
p
.
=
for the radial velocity, the state with bearing
(k) (k)
3
x =
and bearing rate (angular velocity)
(k) (k)
3
x =
the addition of this two state arguments equation.T times radial and angular acceleration (06), (07).
Algorithm for tracking (k+1) We denote this one-step prediction estimate as x(k+1)|k By the predictor that minimizes the
mean-square error prediction error m the minimization of the mean-square prediction error the correction term consist of
the exact difference between the new data samples y(k) and previous prediction estimate cx(k|k-1(03),(04).
Predictor equation:
x

(k+1|k)=ax(k|k-1)+(k)[y(k)-cx(k|k-1)] (1)
(k)=acp(k|k-1)[c
2
p(k|k-1)+
2
v
]
-1
Prediction mean-square error:

p(k+1|k)=a
2
p((k|k-1)-ac(k)p(k|k-1)+
2
w
(2)


The filter will monitor its own performance and adapt parameters when a maneuver is detected. Recursive
equations of Kalman filter are given below:
X[n/n-1]=X[n-1/n-1]+v, (3)
P[n/n-1]=FP[n-1/n-1]FT+Q, (4)
Z[n/n-1]=HX[n/n-1]+w, (5)
K = PHT (HPHT + R)-1,
X[n/n]=X[n/n-]+K(Z[n]-HX[n/n-1]), (6)
P[n/n]=(I-KH)P[n/n-1]. (7)
Tracking Nonlinear Object and its Parameter 185

www.tjprc.org [email protected]
Where X - State Variable, F - State transition matrix (System dynamics (process) model), H - Measurement
transition matrix, P - State estimate error covariance, K - Kalman gain based on MMSE, Z - State measurement,
v,w - Process model noise and Measurement noise respectively
Constant Velocity Model
Then number of states which represent dynamics are position and velocity. The discrete state transition equation s
given low:

Constant Acceleration Model
Then number of states which represent dynamics are position, velocity and acceleration. The discrete state
transition equation

T is sampling period of the target by radar.(.8),(09) The simulation parameters are shown

Figure 3: Measurement and Filter Position in Z Axis

Figure 4: Measurement and Filter Position Error in Y Axis of Aircraft by K
186 Pandharinath A. Ghonge & Kushal Tuckley

Impact Factor (JCC): 4.9467 Index Copernicus Value (ICV): 3.0

Figure 5: Measurement and Filter Error Velocity in Y axis of Aircraft by KF
CONCLUSIONS
Bi-phase Barker coding sequences are unique in that their autocorrelation sequence. The Kaman filter used is
recursive filter so far means the estimation of the current value of a random signal in the presence of additive noise,
depending on how many steps of unit time ahead we want to predict. Measurement filter error are more at initial states
while tracking position velocity and it is optimum later because of sampling theory later it is more linear.
REFERENCES
1. Byrom Eddy, Radar, Tecnology ppln.PTR Printice Hall. New Jersey 1993
2. F. E. Harthansen. RADAR Design Principles. New York 1969
3. C. Ray Smith and Paul M. Goggans., Radar target identification, IEEE Vol.35, No.2, pp. 27-38, April 1993.
4. August W. Rihaczek, Stephen J. Hershkowitz., Theory and Practice of Radar Target Identification, Artech House
Publishers, Boston., 2000.
5. Engin Avci, Ibrahim Turkolugu, and Mustafa Poyraz., Intelligent target recognition based on wavelet & neural
network, E.E. Expert Systems with Applications, Vol. 29, pp 175-182, 2005.
6. Julier, S.J. and Uhlmann, J.K., A new extension of the Kalman filter to on linear systems, Proceedings of
AeroSense: The 11th International Symposium on Aerospace/Defence Sensing, Simulation and Controls, 1997.
7. D. Seshagiri, S. Ravind, and George M Cleetus, Target classification
8. Symposium India, Dec. 2003. n Dempster-Shafer theory of evidences, International Radar
9. Yaakov Bar-Shalom., X. Rong Li Estimation with Applications to Tracking and Navigation, John Wiley & Sons,
New York, 2001