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5 July 1994 Real-time acquisition and tracking system with multiple Kalman filters
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The design of a real-time, ground-based, infrared tracking system with proven field success in tracking boost vehicles through burnout is presented with emphasis on the software design. The system was originally developed to deliver relative angular positions during boost, and thrust termination time to a sensor fusion station in real-time. Autonomous target acquisition and angle-only tracking features were developed to ensure success under stressing conditions. A unique feature of the system is the incorporation of multiple copies of a Kalman filter tracking algorithm running in parallel in order to minimize run-time. The system is capable of updating the state vector for an object at measurement rates approaching 90 Hz. This paper will address the top-level software design, details of the algorithms employed, system performance history in the field, and possible future upgrades.
© (1994) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Gary C. Beard, Timothy G. McCarter, Walter Spodeck, and James E. Fletcher "Real-time acquisition and tracking system with multiple Kalman filters", Proc. SPIE 2221, Acquisition, Tracking, and Pointing VIII, (5 July 1994);

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