Modified Adaptive Extended Kalman Filter and Its' Application
Yan Ming Wei · Fire Control and Command Control · 2000
Concerning the problem of instability and low accuracy of passive filter in underwater target tracking,a modified adaptive extended kalman filter(MAEKF) algorithm is presented.Owing to estimating the statistics of virtual noise on line,it overcomes the bad affect caused by linearization of nonlinear observation model.Meanwhile with the help of modified gain function,the problem of instability caused by the unknowm of statistics of measurement noise is solved,which greatly improves the filter rate and accuracy.