Algorithm of Adaptive Fading Memory UKF in Bearings-Only Target Tracking

The traditional algorithms applied in bearings-only target tracking have some shortages or disadvantages such as biased, slow convergence or divergence. The UKF algorithm improves the linearization error of system, but it doesn´t amend the robustness of system obviously. In this paper, a new AFMUKF (adaptive fading memory UKF) algorithm is proposed. The AFMUKF algorithm improves the robustness by using a fading factor and effective controls the bad influences of the model errors by using the adaptive factor. The simulation results show that the AFMUKF has better performance than EKF and UKF algorithms in precision, stability and convergence time.