Performance Comparison of Circular and Spherical Error Probable Estimators
This report compares the performance of three Circular Error Probable (CEP) estimators: the Grubbs-Patnaik estimator, a new, non-iterative, radial-integration estimator, and a median estimator. It also compares the performance of two Spherical Error Probable (SEP) estimators. The performance of each estimator is assessed in terms of bias, uncertainty, robustness, and computational complexity. Robustness is evaluated with respect to outliers, variations in the underlying statistical distribution characterizing munition impact positions, and impact-position measurement errors. The performance assessments indicate the radial-integration and Grubbs-Patnaik estimators perform nearly identically providing the statistical distribution of impact-position coordinates is jointly normal with zero means. In that case, both estimators outperform the median estimator by about 2% relative to the true CEP in terms of estimator uncertainty. The bias performance of the radial-integration and median estimators is close to zero for jointly normal impacts, however, the Grubbs-Patnaik estimator can be significantly biased for jointly normal impacts with non-zero means. When the statistical distribution characterizing impact positions is known, but not jointly normal, the radial-integration estimator is superior. In this case, the median estimator also outperforms the Grubbs-Patnaik estimator but is not quite as good as the radial-integration estimator. If the statistical distribution characterizing impacts is unknown and not jointly normal, or if distribution parameters are difficult or impractical to estimate, or if test data is corrupted with outliers, then the median estimator dramatically outperforms the other estimators, especially in terms of estimation bias. Unexpectedly, measurement noise did not significantly degrade the performance of any of the estimators, except for cases with signal to noise ratios less than five. Although the Grubbs-Patnaik estimator has remained the gold standard for CEP estimation for over half a century, the performance assessments indicate the new, non-iterative, radial-integration estimator and the median estimator offer significant advantages and, in most practical real-world conditions, are superior estimators. These estimators are also useful for SEP estimation whereas the Grubbs-Patnaik estimator does not extend to three dimensions.