UKF algorithm based on optimized weighting data fusion

Target positioning and tracking based on multiple sensors on single station has been widely applied to many areas such as communication and radar. Conventional nonlinear filtering algorithms show divergence, instability and are affected by the initial state deviation and observability. This paper proposed an UKF algorithm based on optimized weighting data fusion, which operates data fusion on the obtained UKF filtering state estimation of each sensor and will obtain much higher estimation accuracy.