Unbiased Measurements Conversion Based Sequential Filtering for Target Tracking with Range, Range Rate and Direction Cosine Measurements

The measurements in phased array radar are obtained in the direction cosine coordinates, which include the range and direction cosine measurements. In order to realize the target tracking with nonlinear measurements and improve the tracking performance with range rate information, the unbiased measurements conversion based sequential filtering for target tracking with range, range rate and direction cosine measurements is proposed. First, the position measurements are processed by the converted measurements Kalman Filter (CMKF), where the statistical characteristics of the converted measurements error based on range and direction cosine measurements are calculated based on the predicted information to remove the correlation between the covariance matrix and the measurement noise; Based on the filtering result from position information filter, the pseudo measurement, which is constructed by the range and range rate measurements, is input to realize sequential filtering to improve the position filter result. The statistical characteristics of pseudo measurement are also calculated based on the predicted information. Simulation results demonstrate the effectiveness of the proposed algorithm.