A Method of Passive Localization Based on Unscented Kalman Filter

This paper considers the target localization problem for cruise missile. Missile position, missile attitude and frame angles are used to calculate the target position. A passive localization algorithm based on unscented Kalman filter by observing the same target point multiple times is provided. We also provide a state initialization method to make the algorithm more suitable to engineering. The performance is demonstrated with simulated data in a six degree of freedom model.