Strong tracking extended particle filter for manoeuvring target tracking

To improve the stability and accuracy of manoeuvring target tracking in three-dimensional space based on the angle of arrival (AOA) and its rate of change observations, this study presents a new observation fusion method by fusing the received signal strength (RSS) with AOA and the rate of change of AOA. To enhance the adaptive ability of traditional strong tracking extended particle filter (TSTEPF) against model mismatch, this study re-determines the position of the fading factor in the strong tracking extended Kalman filter based on the orthogonal principle and gives the calculating method. And by combining the method with the particle filter, a new strong tracking extended particle filter (STEPF) algorithm is proposed. Simulation results show that after fusing RSS into the observation model, the tracking speed and precision are both improved, especially precision, as the position root-mean-square error has a 58% decline on average. And it is found that STEPF proposed in this study has a more stable adaptive ability than TSTEPF, and is superior in terms of position, velocity, and acceleration estimation accuracy.