Steady State Results for the X, Y, Z Kalman Tracking Filter
K. V. Ramachandra, Vasudevan Srinivasan · IEEE Transactions on Aerospace and Electronic Systems · 1977
An X, Y, Z Kalman tracking filter is described and its steady state characteristics are analytically determined when the radar sensor meaures range, bearing, and elevation (ϒ, θ, ϕ) at uniform intervals of time, T seconds. The relationship between the quantities measured by the sensor (ϒ,θ ,ϕ) and the Cartesian coordinate system (X, Y, Z) is explicitly considered.