Space registration algorithm based on UKF using hybrid states

A new UKF based for radar and infrared sensor registration method is provided. A so-called "hybrid states" concept is introduced to describe target\´s state, which consists of the target\´s range, bearing and elevation and its velocity in the Cartesian coordinate system. The dynamic function and the measurement function are deduced in hybrid states. Simulation results show that the proposed method has higher accuracy and stronger robustness in the estimation of system biases.