Coordinates transformation for target maneuver detection

Ship borne targets normally maneuver on circular paths which have lead to tracidng filters on circular turns. In this paper, an innovation technique is presented to transform the tracking-maneuvering target problems from Polar coordinate to Cartesian coordinate, therefore a standard linear Kalman filter can be easily applied to them. Mathematical relation between measurement noise covariance in polar coordinate and the measurement noise covariance in Cartesian coordinate for Kalman implementation is obtained in this approach via a theorem.