去偏转换方向余弦位置和多普勒量测跟踪

为解决相控阵雷达方向余弦坐标系下状态空间模型量测方程强非线性的问题，提出了一种带多普勒量测的去偏转换量测跟踪方法.在考虑距离量测误差与多普勒量测误差相关性的基础上，用距离量测与多普勒量测的乘积构造伪量测来减轻多普勒量测的非线性.并通过对方向余弦进行二阶泰勒展开，得到了转换量测误差均值和协方差的一致性估计.最后通过对位置量测和伪量测进行序贯处理解决了伪量测非线性的问题.仿真结果证明：通过引入多普勒量测确实提高了滤波性能；同时相比于常用的扩展卡尔曼滤波器和不敏卡尔曼滤波器，提出的去偏转换量测滤波器在方向余弦坐标系下具有更好的跟踪性能.
This paper proposes a debiased converted measurement filter with Doppler measurement to deal with the problem of high nonlinearities in state space model measurement equation in direction cosines coordinates of phased array radar. Considering the relationship between the range measurement error and Doppler measurement error, a pseudo measurement is constructed by the product of range and Doppler measurements to reduce the high nonlinearities of the Doppler measurement. Then, via taking the second-order Taylor series expansion to the direction cosines variable, consistent estimations of mean and covariance of the converted measurement error are derived. Finally, the problem of pseudo measurement nonlinearities is coped with by sequentially processing the position measurement and pseudo measurement. The simulation results prove that the filtering performance is improved indeed by introducing the Doppler measurement. Moreover, compared with the common extend Kalman filter and unscented Kalman filter, the proposed debiased converted measurement filter shows better tracking performance indirection cosine coordinates.