A modified Extended Kalman Filter by the linear pseudomeasurement method

The paper proposes a modification of the linear pseudomeasurement method for the Extended Kalman Filter. It is intended for use in a typical discrete stochastic observation system model. The modified filter allows one to use both bearing measurements of a moving object and range measurements. To form linear pseudomeasurements, linearization of trigonometric functions of bearing measurements and approximation (minimax or integral) of measurement errors and linearization errors are performed. The range of applied tasks solved by the modified filter includes typical navigation tasks, in particular, those solved for autonomous aircraft and underwater vehicles. Experimental calculations were performed for a model example describing the movement of an autonomous aircraft observed by a stationary radar system.