Research on Methods of Target Motion Estimation Based on Particle Filter and Unscented Kalman Filter
Zhen Wang · Techniques of Automation and Applications · 2013
Aiming to solve the problem of target tracking problem for unmanned underwater vehicle, the PF-based method and UKF-based method for underwater target motion estimation are proposed. Two types of reference coordination and the coordination system transferring method are proposed. The typical target horizontal plane motion model and nonlinear random motion model are set up. The underwater target movement parameters are estimated by the above two filters based on the trial test data of forward looking sonar. Finally, by simulation tests the effectiveness and performance of the proposed PF filter and UKF filter are demonstrated by compared with Extended Kalman filter in estimation of target moving parameters.