Decoupled TrackingFilter withModified Unbiased Converted Measurements

Target tracking withradarmeasurements is usually involved withtransformation ofthemeasurements froma polarcoordinate frametoa Cartesian coordinate frame.Classical conversion methodbasedon linear approximation isofteninconsistent andinadequate fora largecross-range target tracking. Thispaperpresents a decoupled tracking filter withmeasurement transformation basedon themodified unbiasedconversion method. Equations forthecovariance oftheconverted measurements arederived. ItisshownviaMonte-Carlo simulation runsthat theproposed approach provides muchimproved consistency ofthetracking filter andyields moreaccurate estimates than theclassical method. tracking filters. Themethodreduces thecomputational load. Inthis paper, modified decoupled covariance equations arederived fromthemodified unbiased converted measurements (MUCM)introduced byD.Zhansheng (5). Theyrepresent moreaccurate measurement modelandare easily applied tothedecoupled tracking filter. ItisshownviaMonte-Carlo simulation runsthat the proposed methodprovides a better consistency ofthe tracking filter andyields moreaccurate estimates thanthe classical approach.