Bearing only Tracking using Square Root Sigma
S. Sadhu, Sharifuddin Mondal, Tapan Kumar Ghoshal · 2004
Abrtmct- The, robustn& and the r.ms error ,settling performance of scald square root SPKF and the same for EKF in a Bearings-only-Tracking are compared. We the 'emr settling performances are comparable, the SPKF is found to be more robust, as quantffTed by the frequency of tllrck INS cases in Monte Carlo simulation. A new quantitative test for track loss to introduced. The feasiblUty tuning the SPKF olter by utilising a design freedom is demonstrated. It is shown that the use of square root SPKF does not introduce substantid computational burden, making the.SPKF a strong candidate for on bosrd implementation..'