Tracking filters are an essential part of target tracking as they play a key role in tracking error reduction and making accurate estimations. Since the birth of the Kalman filter, many researchers have devoted themselves to improving the tracking accuracy and simplifying the algorithm of various of filters. Despite this, tracking for a high mobility warship is still a complex challenge, and it has high maneuverability which leads to a quick change in speed and acceleration. This study discussed the performance of third and fourth-order FMP filter and recommends a speed-dependent algorithm to improve the tracking accuracy. Some main conclusions of this paper are drawn as follows.
Firstly, FMP filter is compared with other commonly used filter algorithms and Kalman filter. The superiorities are shown as follows:
(1). Compared with commonly used benedict-bordner filter algorithm and Gray&Murray filter algorithm, the FMP filter has the highest tracking performance in prediction and smoothing.
(2). FMP filter has another advantage that it is easy to implement due to its simplicity and low computational load.
(3). Even though the Kalman filter has a little higher tracking accuracy, the simulation results show that the Kalman filter appears to have a high rate of overshooting when tracking high mobility motion, hence it is relatively unstable compared with FMP filter.
(4). FMP filter is also easer to implementation and performs more competitively than Kanlam filter.
target under the condition of own ship is motionless and in motion, and some conclusions can be drawn as follows:
(1). The value is optimized as 0.64 when tracking trigonometric function combined trajectory motion.
(2). The value is optimized as 0.56 when tracking trigonometric function combined trajectory motion under the high mobility motion of both own ship and target.
(3). Speed-dependent third-order FMP filter algorithm to track high mobility target is developed and it performs higher tracking accuracy and stability than classic FMP filter.
(4). Speed-dependent third-order FMP filter algorithm to track high mobility target under the condition of own ship and target in motion is developed and it performs higher tracking accuracy and stability than classic FMP filter.
Finally, the third-order FMP filter is extended to fourth-order FMP filter to track high mobility warship which has highly sudden changes in speed and acceleration. The conclusions are given as follows:
(1). The value is optimized by 0.74 when tracking high mobility target and own ship is static.
(2). The value is optimized by 0.50 when tracking high mobility target and own ship is also in motion.
(3). Speed-dependent fourth order FMP filter is developed to track the cases of only target in motion, and both own ship and target in motion.
Comparisons of tracking result show that speed-dependent filter algorithms have higher tracking accuracy and perform more stability than classic FMP filter.
(4). Fourth-order FMP filter and speed-dependent fourth-order FMP filter have higher accuracy and stability in predicting and smoothing than third-order FMP filter and speed-dependent third-order FMP filter.
(5) Combined trigonometric function motion case with randomly generated parameters is simulated and the optimized interval [0.44, 0.6]
is given in the last part.
Optimization of FMP filter can not only improve the tracking accuracy for tracking high mobility warship, but also can save time to find gain parameters before tracking mission. However, some practical application problems such as controlling of glint noise or tracking multiple objects are still required to continue to research and study in the future.
In this study, a theoretical model was adopted to generate the motion dynamics of own ship and target. However, in a real environment the dynamics of own ship or target are calculated using radar measurements of range and bearing and are presented on the ARPA system. The authors therefore intend to apply the results of this study to a real situation in the near future whereby the range and angular bearings will be obtained in order to test the effectiveness of the proposed algorithm.
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Acknowledgements
I would like to express my sincere thanks to many people who have offered me enormous help in both my study and daily life during the past several years. Without their generous supports, it would have been an impossible task for me to finish my doctoral study.
First and foremost, my greatest appreciation goes to my supervisor, Professor Tae-Gweon JEONG, a great professor. The word “thanks” can hardly express my heartful gratitude to him for everything he has done for me. His vast knowledge, strict research attitude and enthusiasm in work have already influenced my way of thinking and study. During this period, I am not only embracing new ideas and concepts for setting ambitious academic goals, but also understanding the fundamental way of thinking.
Without his help, I couldn't finish my study in Korea.
I am thankful to Prof. Gang-Gyoo JIN, Prof. Byeong-Deok YEA, Prof.
Chae-Uk SONG and Prof. Serng-Bae MOON for their hard work in reviewing my dissertation and good suggestions for revising it.
Moreover, I would like to thank the professors and teachers at the Department of Navigation Science. They provided me with great assistance while studying Korean language and professional courses, and contributed significantly helping me adapt to life in Korea.
Also, I would like to thank Mr. Chao CHEN, Ms. Xue-Lian ZHANG, Mr.
Hyeong-Yeol PARK, Miss. Na-Ye KO and Miss. Hui-Min SHI for their kind help and keeping me accompany during my stay in Korea.
At last but not least, I want to give my special thanks to Korea Maritime and Ocean University and the Republic of Korea. I am deeply moved by
promote the friendly and cooperative relationship between Korea and China.
List of Published Papers during Doctoral Course
Journals:
[1] Jeong, T.G., Njonjo, A.W. & Pan, B.F., 2017. A study on the performance comparison of three optimal alpha-beta-gamma filters and alpha-beta-gamma-eta filter for a high dynamic target. The International Journal on Marine Navigation and Safety of Sea Transportation, 11(1), pp.55-61.
[2] Njonjo, A.W., Pan, B.F. & Jeong, T.G., 2016. A basic study on development of a tracking module for ARPA system for use on high dynamic warships. Journal of Navigation and Port Research, 40(2), pp.85-89.
[3] Njonjo, A.W., Pan, B.F. & Jeong, T.G., 2017. Basic study on the comparison of performance of α-β-γ filter and Kalman filter for use in a Tracking module for ARPA system on board high dynamic warships. Journal of Navigation and Port Research, 41(5), pp.269-276.
[4] Pan, B.F., Njonjo, A.W. & Jeong, T.G., 2016. Optimization of the gain parameters in a tracking module for ARPA system on board high dynamic warships. Journal of Navigation and Port Research, 40(5), pp.241-247.
[5] Pan, B.F., Njonjo, A.W. & Jeong, T.G., 2017. A study of optimization of α-β-γ-η filter for tracking a high dynamic target. Journal of Navigation and Port Research, 41(5), pp.297-302.
[6] Shao, Y.B. & Pan, B.F., (in press). Evaluating the efficiency of seaports in China and Korea: comparing data envelopment analysis and
Edition). (Accepted for publication November 2017).
Proceedings:
[1] Jeong, T.G. & Pan, B.F., 2017. Comparison of performance of α-β-γ -η filter and Kalman filter for ARPA system to track high dynamic target. Proceedings of Asia Conference on Maritime System and Safety Research 2017, pp.214-221.
[2] Jeong, T.G., Njonjo, A.W. & Pan, B.F., 2016. Basic study on the comparison of performance of α-β-γ filter and Kalman filter for use in a tracking module for ARPA system on board high dynamic warships.
Proceedings of Asia Conference on Maritime System and Safety Research 2016, pp.222-231.
[3] Jeong, T.G., Pan, B.F. & Njonjo, A.W., 2015. Theoretical approach of optimization of the gain parameters α, β and γ of a tracking module for ARPA system on board warships. Proceedings of Asia Navigation Conference 2015, pp.273-279.
[4] Jeong, T.G., Pan, B.F. & Njonjo, A.W., 2015. Theoretical approach of development of tracking module for ARPA system on board warships.
Proceedings of Asia Navigation Conference 2015, pp.305-313.
[5] Jeong, T.G., Pan, B.F. & Njonjo, A.W., 2016. Basic study of the optimization of the gain parameters α, β and γ of a tracking module for ARPA system on board high dynamic warships. Proceedings of Asia Conference on Maritime System and Safety Research 2016, pp.202-211.
[6] Kim, J.K., Jeong, T.G., Kim, S.W., Pan, B.F. & Njonjo, A.W., 2016. A study on determination of own ship's courses for delaying pirate's