Abstract: Under the framework of RFS theory, the traditional three filter algorithms based on Gaussian mixture was only applicable to linear Gaussian system. In order to extend to nonlinear Guassian system, three algorithms based on EK method were presented. Nonlinear problem was changed into linear problem approximatly by Taylor series expansion. Besides, the tracking performance of the three algorithms for targets with constant turning speed was compared. The simulation result indicated that the three algorithms can be applied to target tracking in nonlinear Gaussian system.

Key words: random finite set, EK, nonlinear gaussian system, PHD, CPHD, CBMeMber