Archive

Sequential Monte Carlo, importance sampling, degeneracy, and resampling.

Archived note defining tracking, state variables, and the difference between observations and raw sensor data.

Note on Kalman filtering assumptions, EKF linearization, and simulated tracking performance.

Notes on state estimation, the limits of raw measurements, and the role of the estimator.

Notes on radar, GPS, AIS, and camera observation models for maritime tracking.

Archived note on the single-target and multi-target simulation setup used to test EKF, PF, and PDA.

Note on Constant Turn Rate and Velocity (CTRV) dynamics and the discrete vessel motion model used for tracking.

Planar vessel state vectors in Cartesian and polar form.

Notes on geodetic, ENU, ECEF, body, seakeeping, and tracking coordinate systems.

Archived thesis logbook.