Two-step optimal estimator for three dimensional target tracking

Pini Gurfil, N. Jeremy Kasdin

Research output: Contribution to journalArticlepeer-review

24 Scopus citations


This study presents an adaptation of a novel estimation methodology to the general nonlinear three-dimensional problem of tracking a maneuvering target. The two-step optimal estimator (TSE) suggests an attractive alternative to the standard extended Kalman filter (EKF). A superior performance is accomplished by dividing the estimation problem into two steps: a linear first step and a nonlinear second step. The target tracking performance of the TSE is shown to be better than an EKF implemented in either inertial or modified spherical coordinates. In the passive case, where bearing/elevation angles only are measured, the TSE yields excellent range and target acceleration estimates. In the active case, where range measurement is available as well, a homing missile employing closed-loop optimal guidance based on the TSE state estimates obtains smaller miss distances than with either versions of the EKF.

Original languageEnglish (US)
Pages (from-to)780-793
Number of pages14
JournalIEEE Transactions on Aerospace and Electronic Systems
Issue number3
StatePublished - Jul 2005

All Science Journal Classification (ASJC) codes

  • Aerospace Engineering
  • Electrical and Electronic Engineering


Dive into the research topics of 'Two-step optimal estimator for three dimensional target tracking'. Together they form a unique fingerprint.

Cite this