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Conference Proceeding

Publication Date



A bug tracking problem is used to introduce students to filtering and smoothing real-time data. A predictor-corrector filter/smoother algorithm is developed and a simulation platform is provided so that students can program and test implementations of the filter/smoother. The platform includes the ability to animate the simulation.

The tracking problem: A small computer bug is traveling around the $x-y$ plane trying to avoid detection. We can eliminate the bug if we can produce a reasonably accurate approximation to its trajectory.

We have a bug detecting device which can be pointed at the plane. It can measure the $x$ and $y$ distances to the bug from where it is pointing if the bug is not too far from where it is pointing. The bug does not want to be tracked, so it sends out jamming signals which corrupt the bug detecting device's measurements in a random manner.

Our task is to create a computer algorithm that uses the bug detecting device to:


\item Screen out the measurement noise

\item Point at the bug's most likely next position in the plane

\item Produce an accurate record of the bug's path. \end{itemize}


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