Range/Doppler tracking with the Kalman filter and its relatives — A comparative study
Dietrich Fränken, Sebastian Woischneck · 2017
This paper studies a selection of estimation schemes for tracking problems where sensors measure range and Doppler while no directional measurements are provided. The selected estimators are relatives of the Kalman filter where either the state propagation equation or the measurement equation is non-linear. Known schemes are compared with a new filter operating in Cartesian state space. The new filter conducts a best linear unbiased estimator update that is based upon some adjusted pseudo-measurements. Performance evaluation in this paper covers estimation error and consistency of the investigated filters.