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Underwater Bearing-only Target Tracking Based on Square-root UKF


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Underwater Bearing-only Target Tracking Based on Square-root UKF
WU Pan-longKONG Jian-shou
School of Automation,NUST,Nanjing 210094,China
single observer bearing-only passive tracking square-root unscented Kalman filter nonlinear filtering
To avoid the computational complexity and the tracking precision decrease from the nonlinear feature in passive tracking,a new square-root unscented Kalman filter(SR-UKF) algorithm is proposed to track underwater targets.The covariance square root matrix is taken in stead of covariance matrix in filter recursion.The filtering divergence problem caused by non-positive error covariance matrix in general unscented Kalman filter(UKF) is solved,and the tracking precision and stability of the algorithm is improved.The simulation results show that the SR-UKF is an effective nonlinear filtering method for underwater bearing-only tracking system,and it performs better than extended Kalman filter(EKF) and general UKF in filtering precision,stability and convergence time.


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Last Update: 2012-11-19