A Tracking Filter with Motion Compensation in Local Navigation Frame for Ship-borne 2D Surveillance Radar

This paper presents a tracking filter with ship`s motion compensation for a ship-borne radar tracking system. The ship`s maneuver is described by displacement and rotational motions in the ship-centered east-north frame. The first order Taylor series approximation of the measurement error covariance of the converted measurement is derived in the ship-centered east-north frame. The ship`s maneuver is compensated by incorporating the measurement error covariance of the converted measurement and displacement of the position state in the tracking filter. The simulation results via 500 Monte-Carlo runs show that the proposed method follows the target successfully and provides consistent tracking performance during ship`s maneuvers while the conventional tracking filter without ship motion compensation fails to track during such periods.