Abstract：In comparison with the Extended Kalman Filtering (EKF) algorithm, the Auxiliary Variable Particle Filtering (AVPF) algorithm is exploited in this paper to solve the problem of TMA based on Bearing-Only measurements (BO-TMA). Firstly, the problem of nonlinear filtering is identified in nature as the groundwork embedded in TMA. The PF (Particle Filtering) and the AVPF algorithms are then introduced, including their design consideration and elements of algorithms. Particular attention is paid to the problem of single observer air-to-sea BO-TMA. The discrete-time models are formulated pertinent to the nonlinear filtering problem and a typical scenario is depicted. The contrast results of Monte Carlo simulations between the AVPF and EKF have demonstrated that AVPF is more feasible to the air-to-sea BO-TMA by virtue of its favorable consistency with higher accuracy and better convergence.
2007, Vol. 29 
