Converted Measurements Kalman Filter Algorithm for Target Tracking
Geng Bo-ying · Jisuanji fangzhen · 2008
In the method of debiased converted measurements, the error statistics were computed conditioned on true target position at first, and then averaged conditioned on observations. The error statistics computed by this method were, in general, not precise enough. To avoid this problem, the error statistics were averaged directly conditioned on the observations. This method was simpler, but also more accurate. Results of simulation prove the effectiveness of the new algorithm.