The Algorithm of Single Target Tracking in Clutter based on PDA-UKF

A method of the combining of PDA and UKF is proposed,it is used to track a single target in clutter.The algorithm can solve two problems.The first one is the filter problem when the measure equation is non-linear,the second one is the tracking problem in clutter.The simulation procedure of PDA-UKF algorithm was concluded,and a simulation example about distance,azimuth and elevation angle's target tracking was brought forward.The theory analysis and simulation results demonstrate that the PDA-UKF algorithm improves stability of filter and accuracy of tracking,and the PDA-UKF has high practical value and broad application prospect.