Nonlinear Tracking Using Uncorrelated Conversion Based Continuous-Discrete Filter

For the strong nonlinear continuous-discrete tracking problem, A novel method has been proposed, which is square root continuous-discrete cubature Kalman filter based un correlated conversion. We construct uncorrelated conversion function and perform uncorrelated conversion on measurements. The square root continuous-discrete cubature Kalman filter is updated with the measurements and its un correlated conversion. The performance of the filter is improved due to gain of uncorrelated conversion. Finally, the performance of the new method was verified to be excellent compared with current methods in the classical tracking scenario.