Mohammad Amin Ahmadpour Khakhk - Department of Electrical Engineering, Ferdowsi University of Mashhad, Mashhad, Iran
Naser Pariz - Department of Electrical Engineering, Professor, Ferdowsi University of Mashhad, Mashhad, Iran
Mohammad Bagher Naghibi Sistani - Department of Electrical Engineering, Associate Professor, Ferdowsi University of Mashhad, Mashhad, Iran

In this paper, performance of a non-linear filter named high-degree cubature kalman filter is studied for Bearings-Only Tracking (BOT) problem. Objective of BOT problem is to find the kinematics of a target using noise corrupted sensor bearing measurements. In many situations, ownship maneuver is required which makes the target states observable. Herein a maneuvering ownship estimates the target kinematics using a high -degree cubature kalman filter. In this filter the spherical-radial cubature rule has been expanded from third degree to fifth degree and the resulting, filter accuracy has improved. The bearings-only target tracking simulation shows that this filter provides better performance over the conventional algorithms

Target Tracking, Bearings-Only Tracking, Non-linear Filtering, High-Degree Cubature Kalman Filter