11.5 Application of the GHKF to the DIFAR Ship Tracking Case Study
Since the dynamic equation is linear for the DIFAR tracking problem, the GHKF process used for this problem is identical to that shown in Table 9.2. For the weights and sigma points, the values used for {
} are given in (11.77)–(11.79), where we let 
. We used the same initialization and dynamic noise q values used for the EKF, given in Sections 7.4.3 and 7.4.4, respectively. The 100 Monte Carlo track plots obtained for the GHKF for each of the signal SNR values used previously showed little discernible difference relative to those from the EKF and will therefore not be presented. Even the number of divergent tracks were identical to those of the EKF Monte Carlo tracks.
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