IEEE - Aerospace and Electronic Systems - May 2022 - Tutorial XV - 96

IEEE AES Tutorials
the accuracy and consistency of different algorithms are
compared through simulation. An effort is made to express
the geometric relationships associated with multistatic tracking
in a simple vectorial manner. This tutorial focuses on
basic tracking, and the companion tutorials " Tracking Using
3D Monostatic and Bistatic Measurements in Refractive
Environments " and " Basic Tracking Using Nonlinear Continuous-Time
Dynamic Models " extend the results to more
sophisticated physical models.
BASIC TRACKING USING NONLINEAR 3D MONOSTATIC AND
BISTATIC MEASUREMENTS IN REFRACTIVE ENVIRONMENTS
DAVID CROUSE
Naval Research Laboratory
Washington, DC USA
The deleterious effects of atmospheric refraction are often
overlooked in work on target tracking. This tutorial shows
how the effects of refraction can be directly incorporated
into tracking algorithms, improving the performance of
tracking algorithms that make use of monostatic and
bistatic measurements. Additionally, a technique for converting
measurements from the radar's refraction-corrupted
local coordinate system (typically bistatic r-u-v
coordinates) into Cartesian coordinates is presented. The
refraction-compensation algorithms can be used with arbitrary
refraction models for which ray tracing techniques
for solving boundary value problems and initial value
problems are available, though extensions to more complicated
propagation scenarios are possible. The algorithms
are run on a simple exponential refraction model to demonstrate
their effectiveness. This tutorial builds upon the
tutorial entitled " Basic Tracking Using Nonlinear 3D
Monostatic and Bistatic Measurements " and is complemented
by the companion tutorial " Basic Tracking Using
Nonlinear Continuous-Time Dynamic Models. "
COHERENT MIMO RADAR: THE PHASED ARRAY AND
ORTHOGONAL WAVEFORMS
MICHAEL S. DAVIS
Gregory A. Showman Georgia Tech Research Institute
Atlanta, Georgia, USA
AARON D. LANTERMAN
Georgia Institute ofTechnology
Atlanta, Georgia, USA
Coherent multiple-input multiple-output (MIMO) radar is
a natural extension of the phased array antenna that has
been used by radar systems for decades. This tutorial
unifies concepts from the literature and provides a framework
for the analysis of an arbitrary suite of MIMO radar
waveforms. A number of gain patterns are introduced,
which quantify the antenna performance ofa MIMO radar,
and the impact of the waveform characteristics (e.g., range
sidelobes) is discussed.
96
TUTORIAL VIII
BASIC TRACKING USING NONLINEAR CONTINUOUS-TIME
DYNAMIC MODELS
DAVID CROUSE, Member IEEE
Naval Research Laboratory
Washington, DC
Physicists generally express the motion of objects in continuous
time using differential equations, whereas the
majority of target tracking algorithms use discrete-time
models. This tutorial considers the use of general, nonlinear,
continuous time motion models for use in target tracking
algorithms that perform measurements at specific,
discrete times. The basics of solving/simulating deterministic/stochastic
differential equations is reviewed. The difference
between most direct-discrete and continuous-discrete
tracking algorithms is the prediction step.
Consequently, a number of continuous-time state prediction
techniques are presented, focusing on derivative-free
techniques. Consistent with common filtering techniques,
such as the cubature Kalman filter, Gaussian approximations
are used for the propagated state. Three dynamic
models are considered for evaluating the performance of
the algorithms: a highly nonlinear spiraling motion mode,
a multidimensional geometric Brownian model, which
has multiplicative noise, and an integrated OrnsteinUhlenbeck
process. Track initiation is also discussed.
NAVIGATION USING INERTIAL SENSORS
PAUL D. GROVES
University College London
London, United Kingdom
This tutorial provides an introduction to navigation using
inertial sensors, explaining the underlying principles.
Topics covered include accelerometer and gyroscope technology
and their characteristics, strapdown inertial navigation,
attitude determination, integration and alignment,
zero updates, motion constraints, pedestrian dead reckoning
using step detection, and fault detection.
TUTORIAL IX
DETECTION OVER SENSOR NETWORKS: A TUTORIAL
S. HAMED JAVADI
University of Bojnord
Bojnord, Iran
The applications of sensor networks (SNs) are increasing
since they facilitate real-time remote information
monitoring and processing. Detection ofan event is one of
the main tasks of SNs in many applications. Sensors may
transmit either raw or processed data to a fusion center
(FC), where a final decision is taken. The problems and
IEEE A&E SYSTEMS MAGAZINE
MAY 2022
IEEE - Aerospace and Electronic Systems - May 2022 - Tutorial XV

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