Application of Adaptive Kalman Filter on Underwater Passive Target Tracking
Zhangsong Shi · Shuju caiji yu chuli · 2004
Concerning the problem to instability and low accuracy of the passive filter on bearings-only target tracking,a modified adaptive Extended Kalman filter algorithm on polar coordinate is presented. Owing to estimating the statistics of the state virtual noise on-line,it overcomes the bad affect caused by linearization of the nonlinear state model. Simulation result shows that the algorithm improves the filtering convergence rate and the accuracy.