Research Article
Particle Filtering for Obstacle Tracking in UAS Sense and Avoid Applications
Table 1
PF performance in the selected scenario in terms of RMS error.
| RMS | Particle filter | EKF |
| Range (m) | 8.4 | 3.7 | Range rate (m/°) | 3.0 | 2.3 | Azimuth (°) | 2.5 | 1.7 | Azimuth rate (°/s) | 0.2 | 0.4 | Elevation (°) | 1.3 | 2.1 | Elevation rate (°/s) | 0.2 | 0.8 |
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