Theoretical and Numerical Analysis on Innovation Sequence in Radar Data Processing

White noise characteristic of innovation sequence outputted by Kalman filtering which is usually applied for outlier restraint and target maneuver detection plays an important role in radar data processing.There is no an intuitive theoretical proof method for white noise characteristic of innovation sequence,also there is no check for white noise characteristic of innovation sequence in practical filtering aspect.In this paper,in terms of Kalman filtering,a more intuitive theoretical proof method for white noise characteristic of innovation sequence is presented,and how the innovation sequence is whitened is analyzed under the condition that the statistical characteristic of error model is colored noise.Then,with a common motion model,a simulation is implemented to verify our theory conclusion to be correct.