Algorithm of modified polar coordinates UKF for bearings-only target tracking

To solve the problem of instability and low accuracy of the cartesian coordinates passive filtering in bearings-only target tracking, the modified polar (MP) coordinates unscented Kalman filter (UKF) algorithm is presented. The algorithm solves the problem of divergence by MP coordinates and overcomes the bad effect caused by UKF, which is to make nonlinear mode equation better suited for standard Kalman filter system of linear hypothesis. In simulation, we compare the performance of extended Kalman filter (EKF) and UKF methods solving the passive tracking in modified polar coordinates. The results indicate that the algorithm improves the filter convergence rate and accuracy.