Abstract
A new evaluation method was proposed to solve the selection of nonlinear filters.The relevant Cramer-Rao lower bounds(CRLBs) were derived based on ballistic motion model with an unknown ballistic coefficient in two-dimensional space.The performance of extended Kalman filter,unscented Kalman filter,quadrature Kalman filter and cubature Kalman filter was analyzed in theory and compared through simulation based on the concluded theoretical CRLBs.Both the theoretical analysis and the simulation results have indicated that the performance of extended Kalman filter is fast but inaccurate,and the cubature Kalman filter is desirable due to a better trade-off between the tracking accuracy and the computational load.
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