Filter coefficient selection using design criteria

For tracking systems with a uniform data rate and stationary measurement noise, non-manoeuvring targets can be accurately tracked with a steady-state Kalman filter. The steady-state Kalman filter, which can be viewed as equivalent to an alpha-beta filter, has been widely applied to many different systems. A means of selecting the filter coefficients was proposed by Kalata (1984) using Kalman filter considerations. An alternative method based on noise reduction ratios is presented in this paper. Using a design criteria with the Kalata relation, optimal filter coefficients can be selected for specific applications. This method generalizes current methods for selecting the filter coefficients.