Maneuvering target tracking using extended Kalman filter
Elsa Cortina, Daniel Otero, C.E. D’Attellis · IEEE Transactions on Aerospace and Electronic Systems · 1991
A numerically well-conditioned, quasi-extended Kalman filter is proposed. The filter is numerically described. The simulation results presented show that the estimation performance of the quasi-extended filter is superior, for short distances, compared with the widely used linear tracking filters. In addition, the simplicity of the quasi-extended filter makes it very easy to implement.>