Tracking Filter with Motion Compensation for Ship-borne Radar

This paper presents a tracking filter with motion compensation for ship's maneuver in a ship-borne radar tracking system. The ship's maneuvers are described by displacement and rotational motions in the ship-centered east-north frame. The effect of the maneuver is compensated by incorporating the state displacements in the tracking filter and taking a coordinate transformation of the measurements using the information derived from the ship's navigation system. 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.