基于转换坐标卡尔曼滤波算法的雷达目标跟踪

Converted Measurement Kalman Filtering Algorithm forRadar Target Tracking

在三维空间中推导了转换坐标卡尔曼滤波算法，得到了在目标真实位置已知的条件下去偏转换测量值误差方差的表达式及在测量值已知条件下去偏转换测量值误差方差的表达式，用此算法进行了雷达目标跟踪仿真，取得了较好的跟踪效果。

In this article, the converted measurement Kalman filtering algorithm (CMKFA) is inferred in 3-dimensional space. The error covariance of debiased converted measurements based on target′s true position is obtained, and the error covariance of debiased converted measurements based on measurements is given too. A target tracking application is simulated using this algorithm and the tracking accuracy is well.