Estimation and Tracking: Principles, Techniques, and Software

by Yaakov Bar-Shalom, Xiao Rong Li (Editor)

This is a reprinted version of the book originally published by Artech House in 1993, following the transfer of copyright to YBS Publishing. This comprehensive, practical source provides the engineering tools you need for the design and evaluation of state estimators in stochastic systems. Estimation and Principles, Techniques, and Software is a complete guide to the technology that will be used in tomorrow's civil and military systems. This book saves you valuable time because it provides ready access to the analytic tools that allow you to design and evaluate state estimators. It is the first text to profile guidelines for the selection of estimator design parameters standard estimators, such as the Kalman filter the latest multiple model estimators, including the recently developed Interacting Multiple Model algorithm, the most successful self-adjusting variable bandwidth estimator for systems with multiple modes of behavior. This book doesn't waste time discussing only the theory behind estimation and tracking. It shows you realistic applications - such as air traffic control tracking - that will add new dimensions to your design thinking. Included with Estimation and Trackinq is access to download the self-contained software DynaEst 2.1, an interactive design tool for Kalman filters and Interacting Multiple Model estimators. The user may create models for all dimensions and may specify any parameter of the true models and/or the filter assumed models, such as noise means and covariances. Most relevant statistical measures of performance of the estimators can be evaluated, including the normalized estimation error squared (NEES), the normalized innovation squared (NIS), and the RMS errors. DynaEst provides valuable hands-on experience on state estimators, and some practical problems of estimation and tracking can be handled by this software. DynaEst includes the following convenient, user-friendly Self-explanatory menu Convenient user specification of parameters Plotting/printing on screen, to a printer, or to a file Automatic installation Access to DOS and MATLAB from within DynaEst Easily readable source code transparent to the user (modifiable) Running on a floppy diskette as well as on a hard disk Knowledge of DOS and MATLAB not required. With 1,700 equations and 50 figures as well as the software support of 150 files on one diskette, Estimation and Principles, Techniques, Software is a practical source of design techniques for graduate students in control systems, aerospace systems, and robotics. Professors will appreciate the ease and versatility of the book's large-sized "textgraph" format which allows the class lecturer to reproduce the text's pages as transparencies for overhead viewgraphs. It is also a must-have for applied researchers and design engineers in civil and military surveillance systems. Software is available via download. Download location information is available in the preface.

511 pages, Hardcover

First published December 12, 1993