An Improved Cubature Kalman Filter-Based Optoelectronic Tracking Method

In modern warfare, smaller and more flexible UAVs are being used on a much larger scale. The smaller laser range and more flexible movement models create more severe challenges for traditional electro-optical tracking systems. In this paper, we propose an improved Cubature Kalman Filter-based optoelectronic tracking method to address the tracking problem of Low-Altitude Slow Small Aircraft. First, a fitting method is used to compensate for the missing Laser Range; then, the preliminary target state information is solved by combining the angle information acquired by the photoelectricity; finally, the Cubature Kalman Filter algorithm is improved in this paper, and the preliminary target state information is used as the first step of prediction, and the angle information acquired by the laser is used as the observation value to update the target state information in real time. The experiment shows that when the probability of missing laser data is within 0.3, the tracking accuracy of the algorithm is less than 0.5 m, which can meet the practical use.