Gaussian-Sum Cubature Kalman Filter with Improved Robustness for Bearings-only Tracking
Pei H. Leong, Sanjeev Arulampalam, Tharaka A. Lamahewa, Thushara Dheemantha Abhayapala · IEEE Signal Processing Letters · 2014
This letter presents a Gaussian-sum cubature Kalman filter with improved robustness compared to the original algorithm proposed by the authors in, which demonstrated excellent accuracy and efficiency for the bearings-only tracking problem. Modifications are made in the splitting and merging procedure of the Gaussian components in the algorithm. Simulation results confirm the improved robustness of the modified algorithm against the choice of threshold level for the splitting procedure.