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Comparative Investigation of Advanced Non-Linear Control Algorithms for Undersea Sonar-Based Tracing Applications

A. Jawahar, S. Sasikanth, S. Koteswara Rao

Abstract


Unscented Kalman Filter (UKF) and Cubature Kalman Filter (CKF) use Gaussian assumed density approximations. SimoSarkka has shown that UKF is a generalized one of CKF. Extensive performance evaluation of UKF and CKF with respect to bearings-only target tracking problem in Monte-Carlo simulation is carried out and the results are presented. It is observed that UKF is better than that of CKF for bearings-only target tracking problem.


Keywords


Estimation Theory, Sonar, Kalman Filter, Target Tracking, Simulation

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References


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