Closed-form Solutions for Velocity and Acceleration of a Moving Vehicle Using Range, Range Rate, and Derivative of Range Rate
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arXiv
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| Main Authors: | , , , |
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| Format: | Preprint |
| Published: |
2025
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| _version_ | 1866918154601496576 |
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| author | Salman, Mohammad Zayyani, Hadi Hilal, Hasan Abu Rashdan, Mostafa |
| author_facet | Salman, Mohammad Zayyani, Hadi Hilal, Hasan Abu Rashdan, Mostafa |
| contents | This letter presents a novel method for estimating the position, velocity, and acceleration of a moving target using range-based measurements. Although most existing studies focus on position and velocity estimation, the framework of this letter is extended to include acceleration. To achieve this, we propose using the derivative of the range rate, in addition to the range and range rate measurements. The proposed method estimates the position at first using Time-of-Arrival (TOA)-based techniques; then, develops a reformulated least squares (LS) and weighted least squares (WLS) approaches for velocity estimation; and finally, employs the derivative of the range rate to estimate the acceleration using previous position and velocity estimates. On the other hand, closed-form LS and WLS solutions are derived for both velocity and acceleration. The simulation results show that the proposed approach provides improved performance in estimating moving target kinematics compared to existing methods. |
| format | Preprint |
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arxiv_https___arxiv_org_abs_2510_04037 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Closed-form Solutions for Velocity and Acceleration of a Moving Vehicle Using Range, Range Rate, and Derivative of Range Rate Salman, Mohammad Zayyani, Hadi Hilal, Hasan Abu Rashdan, Mostafa Signal Processing This letter presents a novel method for estimating the position, velocity, and acceleration of a moving target using range-based measurements. Although most existing studies focus on position and velocity estimation, the framework of this letter is extended to include acceleration. To achieve this, we propose using the derivative of the range rate, in addition to the range and range rate measurements. The proposed method estimates the position at first using Time-of-Arrival (TOA)-based techniques; then, develops a reformulated least squares (LS) and weighted least squares (WLS) approaches for velocity estimation; and finally, employs the derivative of the range rate to estimate the acceleration using previous position and velocity estimates. On the other hand, closed-form LS and WLS solutions are derived for both velocity and acceleration. The simulation results show that the proposed approach provides improved performance in estimating moving target kinematics compared to existing methods. |
| title | Closed-form Solutions for Velocity and Acceleration of a Moving Vehicle Using Range, Range Rate, and Derivative of Range Rate |
| topic | Signal Processing |
| url | https://arxiv.org/abs/2510.04037 |