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25 September 2007 Robust tracking for very long-range radars: Part II. Measurement conversion and derivations
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The measurement conversion from a radar's r-u-v coordinate system to a Cartesian coordinate system is discussed in this paper. Although the nonlinearity of this coordinate transformation appears insignificant based on the evaluation of the bias of the converted measurements, it is shown that this nonlinearity can cause significant covariance inconsistency in the conventional (first order) converted measurements (CM1). Since data association depends critically on filter consistency, this issue is very important. Following this, it is shown that a suitable corrected version (with second order terms) of the conversion equations (CM2) eliminates the inconsistency. The decision between using the standard conversion and the second order version is based on a condition ratio, namely, for an r-u-v measurement whose condition ratio is lower than a certain threshold, CM2 should be used. Results on various tracking filter using these conversions are presented in part I [1].
© (2007) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
X. Tian and Y. Bar-Shalom "Robust tracking for very long-range radars: Part II. Measurement conversion and derivations", Proc. SPIE 6699, Signal and Data Processing of Small Targets 2007, 66991K (25 September 2007);


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