Patent ID: 8515712
Filing Date: 2013-08-20
Classification: B64G,G01S

Abstract:
1. A method for estimating a state of a target, said method comprising: generating first measurements representing LOS direction to the target from a first two-dimensional sensor at a first time; generating second measurements representing LOS direction to the target from a second two-dimensional sensor at a second time, which may be later than said first time; generating third measurements representing LOS direction to the target from a third two-dimensional sensor at a third time, which may be later than said first and second times; initializing an estimator by setting of an estimated state vector to a first initial value, the inverse of a state covariance matrix due to measurement-noise-only to a second initial value, and a bias coefficient matrix due to unknown input parameters to a third initial value; time-updating the estimated state vector; time-updating the inverse of the state covariance matrix; time-updating the bias coefficient matrix due to unknown input parameters; determining an estimator gain matrix; and measurement updating the states with current measurements from the first, second and third two-dimensional sensors to generate a measurement-updated estimated state vector, a measurement-updated inverse of the state covariance matrix due to measurement-noise-only, and a measurement-updated bias coefficient matrix due to unknown input parameters.