Tracking and Kalman Filtering Made Easy

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ACKNOWLEDGMENT
I would like to thank Fred Daum (Raytheon Company), who first educated me
on the Kalman filter and encouraged me throughout this endeavor. I also would
like to thank Erwin Taenzer (formally of the Raytheon Company), from whose
many memos on the g–k and g–h–k filters I first learned about these filters. I am
indebted to Barbara Rolinski (formerly of the Raytheon Company), who helped
give birth to this book by typing a good part of its first draft, including its many
complicated equations. This she did with great enthusiasm and professionalism.
She would have finished it were it not that she had to leave to give birth to her
second child. I would also like to thank Barbara Rolinski for educating her
replacement on the typing of the text with its complicated equations using the
VAX Mass-11 Word Processor. I would like to thank Lisa Cirillo (formerly of
the Raytheon Company), Barbara Rolinski’s first replacement, for typing the
remainder of the first draft of the book. I am most appreciative of the help of
Richard P. Arcand, Jr. (Raytheon Company), who helped Barbara Rolinski and
Lisa Cirillo on difficult points relative to the use of the VAX Mass-11 for typing
the manuscript and for educating Ann Marie Quinn (Raytheon Company) on the
use of the Mass-11 Word Processor. Richard Arcand, Jr. also meticulously made
the second-draft corrections for the first part of the book. I am most grateful to
Ann Marie Quinn for retyping some of the sections of the book and making the
legion of corrections for the many successive drafts of the book. Thanks are also
due the Office Automation Services (Raytheon Company) for helping to type
the second draft of the second part of the book. Sheryl Evans (Raytheon
Company) prepared many of the figures and tables for the book and for that I
am grateful. I am grateful to Richard Arcand, Jr. for converting the text to
Microsoft Word on the MAC. I am extremely grateful to Joanne Roche, who
completed the horrendous task of retyping the equations into Microsoft Word
xxi
and for correcting some of the figures. I am grateful to Joyce Horne for typing
some of the problems and solutions and some of the tables and to Jayne C.
Stokes for doing the final typing. Thanks are due to Peter Maloney (Raytheon
Company) for helping to convert the manuscript from the MAC to the PC
Microsoft Word format. Thanks are due Margaret M. Pappas, Filomena
Didiano, Tom Blacquier, and Robert C. Moore of the Raytheon library for
helping obtain many of the references used in preparing this book. I would like
to thank Tom Mahoney and Robert E. Francois for providing some of the
secretarial support needed for typing the book. Thanks are also due Jack
Williamson and Sally Lampi (both of Raytheon Company) for their support.
Thanks are due to Robert Fitzgerald (Raytheon Company) for permitting me
to extract from two of his excellent tracking papers and for his helpful
proofreading of the text. Fritz Dworshak, Morgan Creighton, James Howell,
Joseph E. Kearns, Jr., Charles W. Jim, Donald R. Muratori, Stavros Kanaracus,
and Gregg Ouderkirk (all of Raytheon Company), and Janice Onanian
McMahon and Peter Costa (both formerly of the Raytheon Company) also
provided useful comments. Thanks are due Allan O. Steinhardt (DARPA) and
Charles M. Rader (Lincoln Laboratory, MIT) for initially educating me on the
Givens transformation. Special thanks is due Norman Morrison (University of
Cape Town) for allowing me to draw freely from his book Introduction to
Sequential Smoothing and Prediction [5]. His material formed the basis for
Chapters 5 to 9, and 15 to 18.
Finally I would like to thank my wife, Ethel, for her continued encouragements
in this endeavor. Her support made it possible.
E. B.
xxii ACKNOWLEDGMENT