Target Tracking with Range and Bearing Measurements via Robust Linear Filtering
Adrian N. Bishop, Pubudu Nishantha Pathirana, Andrey V. Savkin · 2007
In this paper we provide a robust version of a linear Kalman filter for target tracking with nonlinear range and bearing measurements. Moreover, we prove that the state estimation error is bounded in a probabilistic sense. We compare our approach with the current state of the art in converted radar measurement based linear filtering.