Gaussian-Sum Cubature Kalman Filter with Improved Robustness for Bearings-only Tracking

This letter presents a Gaussian-sum cubature Kalman filter with improved robustness compared to the original algorithm proposed by the authors in

, which demonstrated excellent accuracy and efficiency for the bearings-only tracking problem. Modifications are made in the splitting and merging procedure of the Gaussian components in the algorithm. Simulation results confirm the improved robustness of the modified algorithm against the choice of threshold level for the splitting procedure.