公开(公告)号：US10852412B2

公开(公告)日：2020-12-01

申请号：US16163698

申请日：2018-10-18

Applicant: BAE SYSTEMS Information and Electronic Systems Integration Inc.

Inventor： Quang M. Lam ,  Ryan P. Carney

IPC: G01S13/58 ,  G01L5/14 ,  G01S13/44

Abstract: Poor BSE estimation accuracy resulting from conventional Extended Kalman Filtering (EKF) approaches using RF OI sensors mounted on the ground as a remote bullet tracking sensor motivated the design and development of the present disclosure. The observer based BSE removes EKF process noise (state noise) and measurement noise (OI sensor noise) covariance matrices selection and tuning which have been long recognized by the estimation community as a time consuming process during the design stage; requires no consideration of interactions when having the control input signal as part of the state propagation equation; and provides a significant improvement in velocity estimation accuracy, in some cases to less than 1 m/s errors in all axes, thereby meeting the miss distance requirement with amble margin.