UKF

MATLAB Example: Target Tracking in 3D Space with Three Radars Using UKF Filtering

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MATLAB Example: Target Tracking in 3D Space with Three Radars Using UKF Filtering

Filtering in three-dimensional space, integrating radar observation data and the target’s motion model. Each radar observes three measurements: slant range + azimuth angle + elevation angle. Table of Contents Program Explanation Results MATLAB Source Code Program Explanation In three-dimensional space, each radar observes three measurements: slant range + azimuth angle + elevation angle. Additionally, the … Read more

UKF-Based Combined Navigation with 8-Dimensional State and XY Coordinate Observations in MATLAB

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UKF-Based Combined Navigation with 8-Dimensional State and XY Coordinate Observations in MATLAB

The code implements a two-dimensional combined navigation system based on the Unscented Kalman Filter (UKF), integrating data from the Inertial Measurement Unit (IMU) and the Global Navigation Satellite System (GNSS). This system employs an 8-dimensional error state model to estimate the carrier’s position, velocity, attitude, and sensor biases in real-time. Program Overview System Overview IMU … Read more

Strict Derivation of 2D Integrated Navigation Using MATLAB: Simulating UKF (Unscented Kalman Filter) Fusion of IMU and GNSS with Complete Code

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Strict Derivation of 2D Integrated Navigation Using MATLAB: Simulating UKF (Unscented Kalman Filter) Fusion of IMU and GNSS with Complete Code

The program fully demonstrates the modeling and implementation of UKF in 2D plane for IMU+GNSS integrated navigation, clearly illustrating the filtering effect against sensor noise and drift. Table of Contents Program Overview Program Introduction Core Steps Program Functionality Results MATLAB Source Code Program Overview Program Introduction This program implements a simulation of Unscented Kalman Filter … Read more

Target Tracking Algorithm Based on Underwater Acoustic Sensor Networks

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Target Tracking Algorithm Based on Underwater Acoustic Sensor Networks

Journal of Unmanned Undersea Systems 2024 Issue 6 Target Tracking Algorithm Under DoS Attacks Based on Underwater Acoustic Sensor Networks Authors: Yan Jing, Yang Jin, Yang Zhan, Luo Xiaoyuan Affiliation: School of Electrical Engineering, Yanshan University, Qinhuangdao, Hebei, 066004 Funding: National Natural Science Foundation (62222314); Hebei Natural Science Foundation (F2024203047, F2022203001, F2024203072); Central Guidance Local … Read more