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Extended H Filter for Tracking a Ballistic Object with Unknown Ballistic coefficient ß

The aim of this work is to track a ballistic object with unknown ballistic coefficient beta. A one dimensional free falling ballistic object which is characterized, besides kinematics, by unknown ballistic coefficient, has been considered. An extended Hinfin filter (EHinfinF), which is well-known for its robustness property, has been used. Its performance has been compared with extended Kalman filter (EKF) and Cramer Rao lower bound (CRLB). The RMSE plots for individual target states along with unknown ballistic coefficient have been used for the comparison. It has been observed that without providing actual information of process and measurement noise covariances Q and R as well as improper filter initialization, EHinfinF (due to its robustness property) outperforms EKF.