Aiming at the problem of low tracking precision in alternating acoustic source tracking system

an alternating acoustic source tracking method based on cubature Kalman particle filtering is proposed. The cubature Kalman filtering is used to obtain the importance sampling function

which can effectively relieve problem of particle degeneracy. According to moving characteristics of interactive sound source

alternating acoustic source tracking framework is constructed to prevent the misfused prior information in state estimation. The simulation results show that the proposed method can obtain more accurate moving trajectory of alternating acoustic source in low signal to noise ratio（ SNR） environment.