Line-of-sight Estimation for Missile with Censored Measurement

In this paper, we focus on the Line-of-sight(LOS) information estimation for missiles with censored multi-dimensional measurement. To this end, we first construct the nonlinear dynamic relative model between the missile and the target in 3D space to describe the correlated LOS information. Then, we build the measurement model including the censored measurement, which results from view limit constraints and uncensored measurement obtained from the geometric relationship or radars. Next, an Improved Tobit Kalman filter is proposed to realize the measurement with two censoring limits and then the Improved Tobit Kalman filter is combined with the fifth-degree cubature Kalman filter to handle the nonlinearity of the dynamic model. Finally, numerical simulations are given to demonstrate the effectiveness of our proposed algorithm.