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首页> 外文期刊>Chinese Journal of Electronics >A Sequential Converted Measurement Kalman Filter with Doppler Measurements in ECEF Coordinate System
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A Sequential Converted Measurement Kalman Filter with Doppler Measurements in ECEF Coordinate System

机译：ECEF坐标系中具有多普勒测量的顺序转换测量卡尔曼滤波器

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摘要

When there is the correlation between Doppler and slant range, previous literatures have presented some sequential filter algorithms. However, they are only applied to simplified fixed radar' s local coordinate system. As a result, a Sequential converted measurement Kalman filter (SCMKF) with Doppler measurements based on the Earth centered earth fixed (ECEF) coordinate system applicable to a moving airborne platform which has time varying attitude is proposed. Firstly, the correlated Doppler and range are decorrelated using the Cholesky factorization, then the converted position measurements are obtained by a series of coordinate transformation with unchanged range component and other observations, such as azimuth and elevation angles; the corresponding error covariances are derived which are used to the Converted measurement Kalman filter (CMKF). Finally the sequential filter is implemented for changed pseudo-Doppler measurements. The proposed method is validated through Monte Carlo test compared with the performance of CMKF with just converted position measurements and traditional SCMKF with Doppler which ignores the correlation between Doppler and range noises, and the conclusion is obtained that utilizing Doppler information correctly can improve tracking performance, nevertheless, the improvement gain of filter accuracy is limited, which can provide some references for engineering application.
机译：当多普勒和斜距之间存在相关性时，先前的文献已经提出了一些顺序滤波器算法。但是，它们仅适用于简化的固定雷达的局部坐标系。结果，提出了一种基于多普勒测量的顺序转换测量卡尔曼滤波器（SCMKF），该方法基于适用于具有时变姿态的移动机载平台的以地球为中心的地球固定坐标系（ECEF）。首先，使用Cholesky因子分解对相关的多普勒和距离进行解相关，然后通过一系列坐标变换获得转换后的位置测量值，而坐标范围不变，并且方位角和仰角等观测值不变；导出相应的误差协方差，该误差方差将用于转换后的测量卡尔曼滤波器（CMKF）。最后，为改变的伪多普勒测量实现了顺序滤波器。与仅转换位置测量的CMKF和传统的多普勒SCMKF忽略了多普勒与距离噪声之间的相关性相比，该方法通过蒙特卡罗测试进行了验证，得出的结论是正确利用多普勒信息可以改善跟踪性能，但是，滤波器精度的提高增益是有限的，可以为工程应用提供参考。

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