An improved range parameterized square root cubature information filter algorithm for multi-UAV cooperative passive location

In order to improve the deficiency of range information unmeasurable in passive location and high computational complexity in distributed fusion estimation, an improved range parameterized square root cubature information filter (RP-SRCIF) algorithm is proposed. The proposed algorithm adopts fully distributed fusion estimation structure, integrates square root cubature Kalman filter (SRCKF) algorithm, range parameterized method and information filter (IF) algorithm. SRCKF can ensure better numerical stability and higher estimation accuracy; the improved range parameterized method can provide good robustness for initial estimation range and better real-time performance than traditional range parameterized method; IF with fully distributed fusion estimation structure makes fusion estimation computation more simple and convenient. Simulation results indicate the RP-SRCIF algorithm is feasible and more effective when compared with other algorithms for multi-UAV cooperative passive location.