Bearing-only target tracking using cubature rauch-tung-striebel smoother

Bearing-only target tracking system, due to its unique technological advantages, such as the long detection distance, good concealment, etc., has wide application in the military field. Bearing-only tracking problem is a typical nonlinear filtering problem, which easily leads to low tracking accuracy because of the low measurement accuracy and large initial error. In order to solve the above problems, this paper presents a high-efficiency algorithm named Cubature Rauch-Tung-Striebel (CRTS) smoother. It combines the existing Cubature Kalman filter (CKF) with Rauch-Tung-Striebel smoother, and contains two procedures called forward filtering pass and backward smoothing pass. Based on the CRTS smoother, a new algorithm called CRTS-U, which introduces a synthetic evaluation criterion to obtain the optimal ownership maneuver, is provided to improve tracking performance. Simulation results manifest the superior performance of the CRTS-U.