Abstract

This paper describes the application of the Extended Kalman Filter to the estimation of range and bearing biases in marine radars using data from hydrographic charts and radar scans. By defining at least two correspondence points from radar video and electronic charts, the technique provides a rapid and accurate calibration in range and bearing, giving also estimates for the own ship speed, heading and geographical position (latitude and longitude). The method is tested with real data from radar scan images and electronic charts displayed on a navigation console installed on a patrol boat. The technique does not require GPS nor speed information from the ship log unit, however it is shown that their inclusion can improve the estimation.