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