LOCATION TRACKING APPARATUS USING ADAPTIVE KALMAN FILTER

摘要

PURPOSE: A target location tracking device is provided to improve location tracking performance on a moving target by adaptively determining a noise parameter of a state model of a Kalman filter depending on the circumstances using a location measurement value of a measured target and location information of multiple separated receivers. CONSTITUTION: Multiple receivers(10) are spaced from one another, receive a radiation signal(S) from a target(T), and transmits a reception signal corresponding to the received signal to a control unit(20). The receivers transmit location information of each receiver to the control unit. The control unit consists of a measurement module, an initial value setting module, a noise parameter determination module, and a target location tracking module. The target measurement module measures a target location at a specific time using information such as TOA(Time of Arrival) and AOA(Angle of Arrival) of the received signal based on the location and target of the receiver. The initial value setting module sets up an initial value of a Kalman filter execution module, using an initial target location measurement value of the target or a predetermined value. The noise parameter determination module adaptively determines a noise parameter of a state module of the Kalman filter using the measured target location measurement value and the location information of the receiver whenever the location of the target is completely measured.