The target making a turning maneuver can be tracked utilizing the adaptive coordinated turn(CT)model.The state equation is nonlinear due to the change of turning rate.The observation equation established in Cartesian coordinate system has a strong nonlinearity while the measurement data is gived in the form of polar coordinates.This paper implements the nonlinear filter by the strong tracking cubature kalman filter(STCKF)and compares it with the standard cubature kalman filter.The simulation of the maneuvering target tracked with variable turning rates shows that the algorithm can stably track targets with various turning rates and get a high tarcking accuracy.
维普
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