Then we studied the tracking problem of multiple maneuvering targets by using the combination of interacting multi-model and unscented Kalman filter algorithm.

Unscented Kalman filter was chosen as the relative navigation filter.

The unscented Kalman filter(UKF) is applied to the radar registration and a new algorithm for the multi-radar azimuth registration is presented.

The problem of target motion analysis based on bearing and Doppler measurements(BDO-TMA)is studied contrastively by means of unscented kalman filtering(UKF)and extended kalman filtering(EKF)algorithms.

Simulation study based on unscented kalman filtering for the impact of data rate in the bearing-only target motion analysis;

The unscented Kalman filter(UKF) model for the system is built up,and a numerical simulation is performed with the software Matlab.

We aim to eliminate these shortcomings as much as possible with a different and we believe better method by using the unscented Kalman filter(UKF) based SLAM(simultaneous localization and mapping) technique.

Its core consists of:(1) we design a variable structure sliding-mode speed controller and a variable structure sliding -mode current controller to replace the traditional speed PI controller and two current PI controllers;(2) we design the unscented Kalman filter(UKF) observer to estimate direct-axis current,quadrature-axis current,load torque,rotor position and speed simultaneously.