Research of UKF in the target tracking

Unscented Kalman filtering is an important nonlinear filtering method.However,the application of the KF to nonlinear systems can be quite difficult.Using the principle that a set of discretely sampled points can be used to parameterize mean and covariance,the unscented Kalman filtering yields performance equivalent to the Kalman Filtering for linear systems yet generalizes elegantly to nonlinear systems without the linearization steps required by the extended Kalman filtering.This paper according to the model and the filter algorithm,the simulation experiments about the movement of the maneuvering target is done.To the conclude from the analyses of the simulation,the unscented Kalman filtering has high accuracy in tracking.With the comparison to the extended Kalman filtering,the unscented Kalman filtering has the less error of the tracking.