Advanced Parallel Structure Kalman Filter for Radar Applications

Normally in tracking applications, the target motion is usually modeled in Cartesian coordinates but, most sensors measure target parameters in polar coordinates. In this paper two contributions are considered in target tracking. One depends on position measurements and another one is on Doppler measurements. The position measurements are measured by taking the range and bearing (angle) of the target depending on the sensor location. Tracking the target Cartesian coordinates by using this range and bearing measurements is a nonlinear state estimation problem. To calculate the position measurements (range and angle), it is preferred to convert them to Cartesian coordinates by considering the linear form values. This is done, to avoid using nonlinear filters. This method is called as converted position measurement Kalman filter (CPMKF). In this paper another contribution is Doppler (range rate) measurement in target tracking systems. In this contribution the nonlinear pseudo states are calculated. This method is called as Converted Doppler measurement Kalman filter (CDMKF). By considering these two methods a parallel filtering structure, called statically fused converted measurement Kalman filter (SF-CMKF) is proposed. The two methods are operated along with each other to construct the new state estimator SF-CMKF by a static estimator to obtain final state estimates.