Study on single platform bearings-only target tracking algorithm of multiple model kalman filters
zhong hai liu · Jisuanji fangzhen · 2006
The algorithm of EKF is one of the important algorithms of target passive localization and tracking during the course of the target snugly attacking. To overcome the initialization difficulty and decrease the linearization error, the range zone between the sensor maximum range and minimume range was divided into some small zones where the target may be in. The algorithm of EKF was used in each small zone and the covariance rotated matrix was implemented to be applied single platform bearings-only target states estimating and tracking. It is showed through lots of computer simulations that the algorithm has more large choosing scope for the filter initialization values, is very stable and high precision, and is significant to be applied in the underwater target passive tracking.