Research on an algorithm for passive tracking of maneuvering target based on two arrays' bearings
Shuping Han · Ship Science and Technology · 2012
Passive tracking of maneuvering target in water based on bearings of two sonar sensors is a nonlinear state estimating issue;the nonlinear filtering algorithm is inevitably applied to the filtering part because of the linearity of observed equation.The ordinary method to solve this issue is that extended Kalman filtering(EKF) algorithm is applied to the filtering part of interactive multiple models(IMM) algorithm,but when calculating the error covariance matrix,the real-time observed information is not considered,so in this paper,the EKF algorithm is replaced by the modified algorithm i.e.Modified covariance extended Kalman filtering(MCEKF) in order to improve the tracking performance,then a new method is acquired.The correctness as well as validity is verified by simulations.