Target Tracking - MATLAB Simulations for Radar Systems Design - page 451

where ∆ R is the range resolution, c is the speed of light, B is the bandwidth,

and SNR is the measurement SNR.

The standard deviation of the error in the velocity measurement is

λ

σ v = -------------------------------

(9.162)

2τ 2 × SNR

where is the wavelength and is the uncompressed pulsewidth. The stan-
dard deviation of the error in the angle measurement is

λ τ

Θ

σ a = --------------------------------

(9.163)

1.6 2 × SNR

where is the antenna beamwidth of the angular coordinate of the measure-
ment (azimuth and elevation).

Θ

In this example, the radar is located at ( xyz ,, ) = ( 000 ,, ) . This simulation

calculates and plots the following outputs:

TABLE 9.1. Output list generated by the Ðkalman_gui.mÑ simulation

Figure # Description

9.32 uncorrupted input trajectory

9.33 corrupted input trajectory

9.34 corrupted and uncorrupted x-position

9.35 corrupted and uncorrupted y-position

9.36 corrupted and uncorrupted z-position

9.37 corrupted and filtered x-, y- and z-positions

9.38 predicted x-, y-, and z- velocities

9.39 position residuals

9.40 velocity residuals

9.41 covariance matrix components versus time

9.42 Kalman filter gains versus time

Fig. 9.32 through Fig. 9.42 shows typical outputs produced using this simu-
lation for the missile.