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In order to solve the problem of poor real-time performance, low accuracy and high computational complexity in the traditional process of locating and tracking of Direction of Arrival (DOA) of moving targets, this paper proposes a DOA algorithm based on the Direction Lock Loop (DILL) which adopts Lock Loop structure to realize the estimation and location of DOA and can adjust the direction automatically along with the changes of a signal’s angular variation to track the position of the signal. Meanwhile, to reduce the influence of nonlinearity and noise on its performance, the UKF filter is designed for eliminating interference of the estimated target signal to improve accuracy of the signal tracking and stability of the system. Simulation results prove that the algorithm can not only get a high resolution DOA estimate signal, but can also locate and track multiple mobile targets effectively with enhanced accuracy, efficiency and stability

Tracking Positioning Algorithm for Direction of Arrival Based on Direction Lock Loop