Angle-Parameterizations Range-only Target Tracking for Scalar Miss Distance Measurement System

A new approach for estimating the scalar miss distance parameters of target is presented, which based on target tracking in space using range-only extended Kalman filter with angle-parameterizations. In this method, the region of the measurement system is divided into several subintervals, each of the subintervals runs an independent weighted EKFs in parallel with a different initial azimuth value, the combined state vector is calculated using the Gaussian mixture formulae. The new approach overcomes the problems exhibited with existing EKF range-only tracking where the angle is not "observable". Simulation results of performance demonstrate a faster convergence than the EKF, and the estimation of scalar miss distance parameters is more valid