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An ES tracker for tracking an emitter target, including ships and airborne targets, includes a sensor for receiving a signal emitted by the target; a sensor processor for processing the signal and outputting a measurement; and an information processor for processing the measurement. The information processor includes an IMM bearing filter having a mixing section for receiving the measurement and producing a mixed output signal; a first order Kalman filter for receiving the mixed output signal for stationary target tracking; a second order Kalman filter for receiving the mixed output signal and tracking bearing and bearing rate; and a third order Kalman filter for receiving the mixed output signal and tracking bearing, bearing rate, and bearing acceleration. The tracker may also include a second-order elevation filter for modeling and tracking elevation and elevation rate, and a first-order ESM parameters filter for adaptively estimating plant noise, modeling and tracking frequency, pulsewidth, and PRI of the emitter target.