The Unscented Kalman Filter for State Estimation of 3-Dimension Bearing-Only Tracking
Wan-Ping Wang, Sheng Liao, Tingwen Xing · 2009
The unscented Kalman filter (UKF) is presented as an alternative of extend Kalman filter (EKF) for bearing-only tracking. Compared with EKF, UKF has a better performance that estimation precision does not depend on state initialization error. In the same noise angle measurement data, UKF has better precision. UKF can be used to have a good estimation at large state initialization error. Simulation experiments are present and show that UKF is used for better state estimation result in 3-dimension bearing-only tracking.