Unscented Particle Filter for Bearings-Only Tracking
Unscented粒子滤波器及其在纯方位跟踪中的应用

To solve the nonlinear problem in the Bearings-Only Tracking (BOT), an Unscented Particle Filter(UPF) tracking method is proposed. Based on the Unscented transformation, the UPF is used to incorporate the most current observations and to generate the proposal distribution of the nonlinear Particle Filter (PF). The specific application steps of the UPF are deduced combined with the BOT model. The comparisons are made between the UPF and other filters by simulations of the constant speed target and the maneuvering one in the BOT, where the performance and the root-mean-square error of the UPF are analyzed. The results show that the UPF not only solves the linearized loss problem in the extended Kalman filter, but also is more accurate than the PF in the BOT.