AUTHORS: Bao-bao Wang, Pan-long Wu

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ABSTRACT: In order to improve the tracking precision of underwater bearing-only target, a novel filteringsmoothing algorithm based on Square-Root Unscented Kalman Filter (SR-UKFS) is proposed to track underwater target. In the SR-UKFS algorithm, Square-Root Unscented Kalman Filter (SR-UKF) is used as forward-filtering algorithm to provide current location results, Rauch-Tung-Striebel (RTS) algorithm smoothes the previous state vector and covariance matrix using the current location results, therefore an initial value with higher precision is obtained to get more precise locating results. The simulation results show that the SR-UKFS is an effective underwater bearing-only target tracking method, and it performs better than general Unscented Kalman Filter (UKF) and SR-UKF in tracking precision and stability.

KEYWORDS: Target tracking, Bearing-only, SR-UKFS, Forward-filtering, Backward-smoothing

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