Integrity monitoring and estimation of systematic errors in radar data systems

Initial steps towards the design of a fault detection module for radar and the setup of Kalman filtering for systematic error estimation in simulated and real radar data are described. The Kalman filter was set up in two different ways. The first setup assumed that a 'perfect' reference trajectory was available, e.g., GPS data. Excellent results were obtained, when the Kalman filter estimated systematic errors in simulated data. When applied to real data, the results were quite good, however, estimating the quality of the results is more difficult in this case, since the true systematic errors are not known. The second setup compared simulated data from two radar systems. In this case observability problems became apparent in the results.