Dead Reckoning/Target Tracking in an ECDIS Environment

Eric J. Baziw

Abstract:	Since 1979, Offshore Systems Ltd. (OSL) has been involved in the development of Electronic Chart Display and Information Systems (ECDIS) and has recently incorporated radar overlay into ECPINS’, thus enabling the implementation of target-tracking filters. The introduction of radar overlay and Kahnan Filters into ECDIS development will facilitate the introduction of a single- person bridge in which navigation equipment will be housed in a single unit and electronic charts will replace the use of paper charts. The target tracking and dead reckoning filters will also contribute towards automating mariner navigation, thus making it more reliable, accurate, and safe by making it less dependent on the operator. This paper presents and analyzes a Kalman Filter which is designed for vessel navigation and target tracking. To reduce computer computation, the states in the optimal navigation and target-tracking system model were decoupled, resulting in two cascaded Kahnan Filters. The first filter outlined is an eleven state extended dead reckoning Kalman filter (DRKF). The second filter outlined is a twelve state extended target tracking Kalman filter (TTKF). This paper discusses these two filters in detail, and outlines their state and measurement model equations. In addition, the paper illustrates how these two filters are integrated so that a single DRKF feeds vessel position and velocity estimates to multiple twelve-state ‘ITKF filters in order to track multiple targets. The performance of the dead reckoning / target tracking Kalman filter was evaluated by processing synthetic data. The true and estimated position and velocity states are presented and compared along with the corresponding estimation error covariance values. From the results obtained and analyses conducted, it was found that the decoupled system model and serial linked Kalman Filters performed close to the coupled system and that a substantial savings of computer computation was achieved.
Published in:	Proceedings of the 1994 National Technical Meeting of The Institute of Navigation January 24 - 26, 1994 Catamaran Resort Hotel San Diego, CA
Pages:	747 - 756
Cite this article:	Baziw, Eric J., "Dead Reckoning/Target Tracking in an ECDIS Environment," Proceedings of the 1994 National Technical Meeting of The Institute of Navigation, San Diego, CA, January 1994, pp. 747-756.
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