Radar Target Tracking for Unmanned Surface Vehicle Based on Square Root Sage-Husa Adaptive Robust Kalman Filter

Dynamic information such as the position and velocity of the target detected by marine radar is frequently susceptible to external measurement white noise generated by the oscillations of an unmanned surface vehicle (USV) and target. Although the Sage-Husa adaptive Kalman filter (SHAKF) has been applied to the target tracking field, the precision and stability of SHAKF remain to be improved. In this paper, a square root Sage-Husa adaptive robust Kalman filter (SR-SHARKF) algorithm together with the constant jerk model is proposed, which can not only solve the problem of filtering divergence triggered by numerical rounding errors, inaccurate system mathematics, and noise statistical models, but also improve the filtering accuracy. First, a novel square root decomposition method is proposed in the SR-SHARKF algorithm for decomposing the covariance matrix of SHAKF to assure its non-negative definiteness. After that, a three-segment approach is adopted to balance the observed and predicted states by evaluating the adaptive scale factor. Finally, the unbiased and the biased noise estimators are integrated while the interval scope of the measurement noise is constrained to jointly evaluate the measurement and observation noise for better adaptability and reliability. Simulation and experimental results demonstrate the effectiveness of the proposed algorithm in eliminating white noise triggered by the USV and target oscillations.