An adaptive Kalman filter algorithm used in the underwater passive target tracking in a Cartesian coordinate system
Zhong Liu · Shengxue jishu · 2004
Taking into account the instability and low accuracy of passive filters in bearings-only target tracking, a modified polar coordinate adaptive extended Kalman filter (MPAEKF) algorithm is presented. Virtual noise is estimated, and errors due to linearization are dynamically compensated for so that the system's observation error is reduced. The filtering theory and the algorithm are studied. Simulation results show that MPAEKF can improve the filter convergence and accuracy.