A Joint Filter for Formation Tracking

摘要

There is a growing interest in unmanned formation missions. For thesernkinds of missions, there is a need to track each member in the formation.rnThe classical way of addressing such a problem, is to address eachrnmember in the formation separately and design its own filter,rnindependently from the other member filters. An implementation of arnjoint filter for the formation members is proposed. Such a filter utilizesrnthe fact that the velocity of formation members is almost the same, in itsrncore structure. Closed-form analytical solution to the error staterncovariance of the joint filter and the corresponding gain matrix arernderived and compared to the individual filter for each formation memberrnimplementation.