The Robust Passive Location Algorithm for Maneuvering Target Tracking

Figure 4

Using the 100-time Monte-Carlo simulation method to get the error of the RFEKF. (a) Error of the horizontal position, (b) error of the horizontal velocity, (c) error of the vertical position, and (d) error of the vertical velocity. The error values at the abrupt change time are huge. In order to see the effect of the convergence, the vertical limit of this figure was set as 100 artificially.

(a)

(b)

(c)

(d)