Algorithm of modified polar adaptive Kalman filter used in bearings-only target tracking

A modified polar adaptive extended Kalman filter(MPAEKF)algorithm is presented in order to solve the problem of instability and low accuracy of the passive filter in bearings-only target tracking. This algorithm can be used to estimate the statistics of the state virtual noise on-line, thus it overcomes the bad effect caused by the linearization of nonlinear state model. The simulation result shows that MPAEKF improves the filter convergence rate and accuracy.