Filtering Method based on Speed Prior Information by a Fixed Single Observer Using Bearing-only Measurements

Considering the speed information as a prior constraint, constrained cubature kalman filter (CCKF) tracking filtering method based on model reduction (MR) method and perfect measurement (PM) method is studied and compared for the tracking problem of fixed single observer passive positioning using only angle pair constant speed targets. The simulation results show that the fixed single observer passive positioning system can track the moving target with constant speed by measuring angle only under the condition of speed prior information, and the perfect measurement method is more robust to the initial state of the filter than the model reduction method.