Unscented Kalman Filter for Passive Underwater Target Tracking
Fubin Zhang · Fire Control and Command Control · 2006
To solve the problem of the instability,low accuracy of passive filter in Cartesian coordinate,and the strong nonlinearity in modified polar coordinate,the unscented Kalman filter is applied in the passive underwater target tracking in modified polar coordinate.This approach combines the advantages of modified polar coordinate,which is stable and asymptotically unbiased,and unscented Kalman filter,which can deal with the problem of coupled state estimates and noises in nonlinear process model.In simulation,we compare the performance of three different methods solving the passive tracking in modified polar coordinate.And the results indicate that the unscented Kalman filter is superior to both extended Kalman filter and adaptive extended Kalman filter.