7.4 Application of the EKF to the DIFAR Ship Tracking Case Study
In applying the EKF to the problem of tracking the Cartesian position and velocity of a ship as it transits a buoy field, a dynamic model of the ships kinematics over time is required along with a model linking the bearing observations to the ships position. Two additional things need to be discussed: how to initialize and how to choose a proper acceleration noise q.
7.4.1 The Ship Motion Dynamics Model
where we have added a Gaussian white noise acceleration noise term vn−1 to allow for small variations and maneuvers in the ships track. Here, we define the time-invariant transition matrix F as
and note that
7.4.2 The DIFAR Buoy Field Observation Model
Define the buoy field observation vector at time tn as
The observation model for each buoy can be defined ...