A new estimator for passive tracking of maneuvering targets
M.J. Moorman, Thomas E. Bullock · 2003
A method for reducing the range estimation bias inherent in the extended Kalman filter (EKF) when used for passive tracking is presented. Using a first-order approximation of the bias, the a posteriori state estimation is corrected in an attempt to remove most of the bias. Modifications based on empirical results are required but the resulting estimator is shown to be nearly unbiased and to function well in a stressing scenario where the EKF fails.>