Bearing-only Tracking for Underwater Target: A Hybrid Coordinate based on Unscented Transform
混合坐标系下基于U变换的水下机动目标被动跟踪

To solve the problem of the single observer passive target tracking based on hybrid coordinate,we applied the unscented transform algorithm to improve it in the paper.This algorithm works by constructing a set of sigma points and the corresponding weight function.The means and covariance of nonlinear transformation can be achieved directly,without the transformation from nonlinear to linear.Contrasting with EKF,the simulation results show that this algorithm is not only more accurate and less error in tracking but also has a better performance in calculation.