Coordinates Transformation forTarget Maneuver Detection

Ship bornetargets normally maneuver oncircular pathswhichhaveleadtotracking filters oncircular turns. Inthis paper, aninnovation technique ispresented totransform the tracking-maneuvering target problems fromPolarcoordinate to Cartesian coordinate, therefore astandard linear Kalmanfilter canbeeasily applied tothem.Mathematical relation between measurement noisecovariance inpolarcoordinate andthe measurement noisecovariance inCartesian coordinate for Kalmanimplementation isobtained inthisapproach viaa theorem. Keywords-Maneuvering