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arXiv · 2501.04262

Target Tracking Using the Invariant Extended Kalman Filter with Numerical Differentiation for Estimating Curvature and Torsion

Shashank Verma·Dennis S. Bernstein
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Abstract

The goal of target tracking is to estimate target position, velocity, and acceleration in real time using position data. This paper introduces a novel target-tracking technique that uses adaptive input and state estimation (AISE) for real-time numerical differentiation to estimate velocity, acceleration, and jerk from position data. These estimates are used to model the target motion within the Frenet-Serret (FS) frame. By representing the model in SE(3), the position and velocity are estimated using the invariant extended Kalman filter (IEKF). The proposed method, called FS-IEKF-AISE, is illustrated by numerical examples and compared to prior techniques.

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Shashank Verma, Dennis S. Bernstein. 2025-01-08. Target Tracking Using the Invariant Extended Kalman Filter with Numerical Differentiation for Estimating Curvature and Torsion. https://arxiv.org/abs/2501.04262

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