Decoupled Tracking Filter with Modified Unbiased Converted Measurements

Target tracking with radar measurements is usually involved with transformation of the measurements from a polar coordinate frame to a Cartesian coordinate frame. Classical conversion method based on linear approximation is often inconsistent and inadequate for a large cross-range target tracking. This paper presents a decoupled tracking filter with measurement transformation based on the modified unbiased conversion method. Equations for the covariance of the converted measurements are derived. It is shown via Monte-Carlo simulation runs that the proposed approach provides much improved consistency of the tracking filter and yields more accurate estimates than the classical method.