Recursive Bearings-Only TMA via Unscented Kalman Filter: Cartesian vs. Modified Polar Coordinates

@article{Laneuville2008RecursiveBT,
  title={Recursive Bearings-Only TMA via Unscented Kalman Filter: Cartesian vs. Modified Polar Coordinates},
  author={D. Laneuville and Claude Jauffret},
  journal={2008 IEEE Aerospace Conference},
  year={2008},
  pages={1-11}
}
This paper considers the classic problem of bearings-only target motion analysis. This has extensively been studied in the past and the novelty here is the use of the unscented Kalman filter (UKF) with the modified polar coordinates state representation. To take advantage of this filter, we keep the exact non linear plant equation of the model in the prediction stage with the coupling between the different state vector components. In this representation, the prediction equation is not… CONTINUE READING

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