A Maneuvering Target Tracking Filter in Mixed Coordinate System

A kalman filter in the spherical-rectangular coordinate system to track a maneuvering target is introduced. A dynamic model with extended state vector is proposed in this paper to improve the state estimation (i.e. position, velocity and acceleration) even the sensor data(i.e. range, azimuth angle and elevation angle ) is color contaminated. The Kalman filter equations are decoupled by proper coordinate transformation and using filter gain rotation algorithm. Monto Carlo simulation is performed for different kinds of target trajectories(with the same measurement noise) and the root mean square values of estimation errors are computed. Results show that there is significant improvement in tracking capability over the methods discussed by other researchers.