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This paper deals with some fundamental problems of the constrained dynamic system, especially where dynamics and constraint are not congruous. First, we introduce a concept of compatibility of the system dynamics and constraint. It divides all constrained systems into three classes: incompatible (0% compatible), (partially) compatible, and congruous (100% compatible). We argue convincingly that the...
The state of many dynamic systems evolve subject to some linear equality constraints. Using different techniques, different state estimators for linear equality constrained dynamic systems have been developed in the literature, including the pseudo measurement method, the projection method, the null space method, and the direct elimination method. However, their extension to the multi-sensor case...
Straight line motion is one of the most fundamental target motions. Its modeling has been well studied for unconstrained targets, e.g., air targets. However, the existing straight line motion models can not be directly used for the constrained case on straight line tracks, which has wide application, e.g., in ground target tracking. In this paper, modeling of the constrained target motion on a straight...
Turning is one of the most fundamental target motions. Its modeling has been well studied for unconstrained targets, e.g., air targets. However, existing turning models can not be directly used for constrained target motion on circular tracks, which has wide application, e.g., in ground target tracking. This paper models the constrained target motion on a circular track. First, it explicitly sets...
The state of many dynamic systems evolves subject to some equality constraints. Under the assumption that the equality constrained dynamic systems are already available, most existing work focuses on developing state estimation algorithms for these systems. However, how to design and analyze such a system is rarely addressed, even though it is critically important for performance evaluation and application...
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