Debiased Converted Measurements based Target Tracking Algorithm in Boost -phase

The nonlinearity of measurements makes a direct impact on the accuracy and timeliness of target tracking. Considering that, a method of debiased converted measurements is presented. Firstly, the nonlinear measurement equations are pseudo-linearized and then an unbiased least squared estimator for target location in three dimensional space is derived, by which detector's bearings-only measurements can be converted to target's spatial position in Cartesian coordinates, and so the above-mentioned nonlinearity is improved greatly. In addition, the statistics characteristic of position error is given. The 8-state gravity turn model for target in boost-phase is introduced and target status estimated by EKF based on debiased converted measurements, the traditional EKF and UKF are compared by simulation. It is shown that the proposed algorithm exhibits the similar accuracy as UKF, while its computation efficiency approximates to the traditional EKF, consequently, its feasibility and efficiency is born out.