A Robust Extended Kalman Filter Based on Transforming State Space
一种变换状态空间的稳定卡尔曼滤波算法

Based on the analysis of the effect on the linearization about the measurement equation and state equation, aimed to some system with linear state equation, a new algorithm named as Transforming State Space Extended Kalman Filter (TSS-EKF) is proposed to improve the robust of EKF. Simulation in single observer passive location and tracking validates that this algorithm is robust.