A performance comparison of nonlinear filtering techniques based on recorded radar datasets

In this paper, several nonlinear filters (EKF/CMKF/CMEKF, UKF and PFs) are compared using real datasets and simulations based on two representative radar datasets. The first dataset was collected from an air traffic control (ATC) radar experiment with several aircraft. The second dataset was recorded from a high frequency surface wave radar (HFSWR) trial that was characterzed by a very long integration time and a limited set of manoeuvre types. RMSE, NEES and NIS are used as measures of performance. Comments on the performance, computational requirements of the nonlinear filters, practical modelling and filter tuning issues for the two types of radars are also presented.

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