Bistatic sonar data fusion based on extend kalman filter and its application

The extend kalman filter theory is studied thoroughly. The model of extend kalman filter is proposed. Three-dimensional extended Kalman filter fusion algorithm is derived based on the information from transmission stations and receiving stations of bistatic sonar system. As the bigger error of it in z direction, an improved three-dimensional extended Kalman filter fusion algorithm with measurements of elevation is given. The simulation results show that the new method improves the target motion analysis accuracy in z direction.