关键词: 相对定位, 相位差变化率, 可观测性, 扩展Kalman滤波算法, 无迹Kalman滤波算法, 粒子滤波算法

Abstract:

To solve the positioning problems between two moving bodies,we  presents a kind of positioning method based on phase change rate in two-dimensional model,conducts and gives the results of observability analysis.Several classical nonlinear filtering algorithms are introduced and the  EKF（Extended Kalman Filter）、UKF（Unscented Kalman Filter）、PF(Particle Filter） are applied to the Location model.Simulation results show  that UKF takes the least time and PF is the
 algorithm with best accuracy.

Key words: relative localization;phase change rate, observability analysis, extended Kalman filter(EKF), unscented Kalman filter(UKF), particle filter(PF)