The H∞ filtering problem is considered for a class of nonlinear discrete-time systems for which a novel solution is developed by embedding the unscented transform technique into the extended H∞ filter structure. This article compares a Scale Unscented Transform H∞ filter (SUT H∞ - ) and UKF for the bearings-only tracking problem in Modified Polar Coordinates (MPC) and Cartesian coordinates (CC). Its objective is to track the kinematics (position, velocity) of a moving target using noise-corrupted bearing measurements. The SUT H∞ - filter achieves higher accuracy and robustness against model uncertainty. Simulation results for the bearings-only tracking (BOT) are presented to illustrate that the MPC is better than CC in long distance.
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机译：针对一类非线性离散时间系统，考虑了H ∞滤波问题，通过将无味变换技术嵌入扩展的H ∞滤波器结构中，为其开发了一种新的解决方案。本文对无标度变换H ∞滤波器（SUT H ∞-）和UKF进行了比较，以解决修正极坐标（MPC）和笛卡尔坐标（ CC）。它的目标是使用受噪声破坏的方位测量结果来跟踪运动目标的运动学（位置，速度）。 SUT H ∞-滤波器针对模型不确定性实现了更高的精度和鲁棒性。给出了纯轴承跟踪（BOT）的仿真结果，以说明MPC在长距离上比CC更好。
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