UKF-based target tracking using direct Doppler measurements

The three-dimensional (3D) Converted measurements filtering (CMF) with both converted position measurements and direct used range-rate measurement is proposed to solve the Doppler radar target tracking, where the measurement error between radar-target range and range-rate is correlated. Not like the conventional. method that a pseudo measurement is constructed by the product of range and range-rate to reduce the high nonlinearity, the direct used range-rate measurements are utilized by the Unscented Kalman filter (UKF), where the converted position and range-rate measurement errors are de-correlated firstly, then linear part (position measurements) and nonlinear part (range-rate measurements) are processed by the Kalman filtering (KF) and UKF sequentially under the sequential filtering framework. Monte-Carlo simulations show that the tracking performance is improved to a certain extant.