Improved 3D angle-only target tracking with smoothing

Abstract

In this paper, two smoothing filters are proposed to address the 3D angle-only target tracking. One is smoothing extended Kalman filter (sEKF) and the other one is smoothing modified gain extended Kalman filter (sMGEKF). Both of them are based on Rauch-Tung-Striebel (RTS) smoothing. Compared to the traditional approaches (e.g., the EKF and the MGEKF) used in passive localization, the proposed filters have potential advantages in tracking accuracy. Both new filters are applied in 3D angle-only filtering problems and simulation results demonstrate the advantages of these two approaches.