Bearings-Only Maneuvering Target Tracking Based on STF and UKF

The bearings-only tracking problem (BOT) has been studied for many years and UKF has extensively been applied in passive non-maneuvering target tracking. When target takes maneuver, the estimation will diverge. STF can track the abrupt change of state by tuning the gain matrix online. Based on the advantages of STF and UKF, a new method, STF_UKF, is proposed to track maneuvering target with bearings-only measurements from two separate stationary observers. Simulation results show that STF_UKF is feasible and effective in tracking maneuvering target, especially when initial state deviation and measurement noise are great.