Research on Improved UKF Algorithm and Its Target Tracking Performance
Yihuan Zhao · Modern Electronics Technique · 2011
The principle of Unscented transformation and UKF(Unscented Kalman Filter) algorithm are studied.To simplify computational complexity of the tracing system,identity matrix was introduced into the Unscented transformation,and the complicated matrix calculation was replaced by simple numerical calculation for solving matrix square root,that is UKF algorithm was improved into FMSRUKF(Fixed Matrix Square Root Unscented Kalman Filter).The simulation results of variably accelerated motion target tracing under three dimensional coordinate show that FMSRUKF achieves better precision and robust.