CODEWITHSUNDEEP
filteringkalman-filter
reena
reena

Reputation: 55

Extended Kalman filter for vehicle tracking

I have read somewhere that movement of a vehicle in cities is non-linear. It accelerates or de-accelerates frequently.

Can I use Extended Kalman filter for vehicle tracking moving on a road?

I am not able to understand the difference between KF and EKF.

Upvotes: 1

Views: 683

Answers (1)

hvdm
hvdm

Reputation: 1606

The difference between a KF and EKF is in the model that is used, i.e. the equations used for propagation of the state (transition) and measurement update. If the model is linear, you can use a KF, EKF's are used for non-linear models.

For your case, the movement may not be linear, you can still create a linear state transition model: Assume a vehicle with 1 dimensional motion. You could model this using a state [x,v,a] (position, speed, acceleration). The state transition can be modeled as:

eq1

which is a linear model.

Upvotes: 1

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