Research of AEKF application algorithm used for bearings-only tracking

Bearings-only tracking(BOT)is a key problem in the academic domain because it is non-linear essentially.A new adaptive filter(AEKF) is proposed considering the divergence shortage of extend Kalman filter(EKF).The new algorithm compensates the error of linearization dynamically by using Sage-Husa noise estimator online.The simulation results demonstrate that the AEKF has better performance than the EKF both in stability and precision.It provides a new method for the realization of underwater bearingsonly tracking.