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In our previous work, we compared the performance of the extended Kalman filter (EKF), unscented Kalman filter (UKF), and particle filter (PF) for the angle-only filtering (AOF) problem in 3D using Cartesian coordinates and modified spherical coordinates (MSC) for the relative state vector. We found that the UKF-MSC and EKF-MSC had the best performance in accuracy, the UKF-MSC being slightly better...
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