Radar/ESM tracking of constant velocity target: comparison of batch (MLE) and EKF performance

In this paper we compare performance of batch (Maximum Likelihood Estimate MLE) and iterative (Extended Kalman Filter) techniques in the case of joint Radar/ESM tracking. Two issues are addressed. Tracking accuracy of both methods are evaluated by simulations and compared to the Cramer-Rao Lower Bound (CRLB). The radar scheduling is optimized in order to increase tracking accuracy.