An Improved Particle Filtering Algorithm for Out-of-Sequence Measurements

In multiplatform cooperative engagement, sensor measurements usually cannot arrive at the fusion center according to detection time because of the delay for communicating time. To solve an out-of-sequence measurements filtering problem, to improve the tracking performance and to reduce the computation cost, an improved particle filtering algorithm based unscented transforming was proposed. The filter has higher estimation accuracy, fewer computation costs, fewer memory requirements, and no delayed output. Simulation results show that the algorithm has better tracking accuracy than other filter algorithms, which solves the problem to the time delaying.