Modellbaserad ekoföljning i vätskefyllda tankar

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This thesis discusses model based tracking of radar echoes in tanks with liquid content. The errors in the measurements are not always random in these cases, and the interference that occurs when nearby echoes moves in relation to each other makes tracking difficult. The tracking problem can be broken down to four parts; track initiation, track destruction, association of the measured echoes to the tracks and to update the tracks with the associated echoes. The radar measurement is primarily made on the surface. However, additional echoes from the tank floor or other structures and double bounces are normally present. There are often linear relations between the positions of the measured echoes. Kalman filters are typically used to estimate the positions of the echoes. Best performance is achieved if a model of the entire tank is used; however that model must be tailored to match the exact conditions in the tank. It is also possible to consider the echoes to be independent and track their positions using se...