One condition of the target's maneuver is coordinated type turning motion, with the characteristic that the size of the angular velocity and the velocity stay the same, while the direction of the velocity varies from time to time. It is a special kind of maneuver. This turning motion of target is actually a part of the uniform circular motion. In response to this situation, we assume that the motion model of the target is the uniform circular motion. In this case, to ensure the observability in passive target tracking, we propose bearings-only unscented kalman filtering (UKF) algorithm with two arrays to locate and track the target. In this paper, we propose UKF algorithm with two arrays to do passive tracking and compare with extended kalman filtering (EKF) algorithm. Simulation results show that bearings-only UKF algorithm with two arrays has faster convergence and better tracking accuracy than EKF algorithm.
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