State estimation performance of tracking system with range rate measurements

Digital signal processing techniques employed in modern radar systems enable the generation of measurements consisting of target 3D position and range rate. However, two crucial issues on range rate measurements utilization remain unresolved, that is, under what conditions and to what extent the performance improvement can be attained by incorporating range rate measurements into the tracking filter. This paper aims to address the two problems. Firstly, the state space models of tracking systems without and with range rate measurements are formulated. Secondly, the lower bounds, i.e., Posterior Cramér-Rao Bounds (PCRBs), for target state estimation errors of the two tracking systems are derived. Thirdly, the primary parameters relevant to the PCRB are discussed, and an effective method for analyzing their effects on state estimation is proposed by comparing the PCRBs of the two tracking systems. Finally, an application example is presented under a typical tracking scenario. The method and results will be of great interest for persons developing tracking system with range rate measurements.

[1]  Zhansheng Duan.  Sequential Nonlinear Tracking Filter with Range-rate Measurements in Spherical Coordinates , 2004 .

[2]  S. Morgera,et al.  Radar data processing, vol. II: Advanced topics and applications , 1987 .

[3]  Yaakov Bar-Shalom.  Negative correlation and optimal tracking with Doppler measurements , 2001 .

[4]  Han Chong-zhao.  Radar Target Tracking with Doppler Measurements in Polar Coordinates , 2004 .

[5]  Carlos H. Muravchik,et al.  Posterior Cramer-Rao bounds for discrete-time nonlinear filtering , 1998, IEEE Trans. Signal Process..

[6]  X. R. Li,et al.  A Survey of Maneuvering Target Tracking—Part III: Measurement Models , 2001 .

[7]  Vesselin P. Jilkov,et al.  A survey of maneuvering target tracking: approximation techniques for nonlinear filtering , 2004, SPIE Defense + Commercial Sensing.

[8]  Yaakov Bar-Shalom,et al.  Benchmark for radar allocation and tracking in ECM , 1998 .

[9]  K.V. Ramachandra,et al.  Analytical Results for a Kalman Tracker Using Position and Rate Measurements , 1983, IEEE Transactions on Aerospace and Electronic Systems.

[10]  Chongzhao Han,et al.  Sequential unscented Kalman filter for radar target tracking with range rate measurements , 2005, 2005 7th International Conference on Information Fusion.

[11]  Frank Castella,et al.  Tracking Accuracies with Position and Rate Measurements , 1981, IEEE Transactions on Aerospace and Electronic Systems.

[12]  Yoshio Kosuge,et al.  Target tracking under dense environments using range rate measurements , 1998, Proceedings of the 37th SICE Annual Conference. International Session Papers.

[13]  M.A. Smith,et al.  On Doppler measurements for tracking , 2008, 2008 International Conference on Radar.

[14]  D.F. Bizup,et al.  Maneuver detection using the radar range rate measurement , 2004, IEEE Transactions on Aerospace and Electronic Systems.

[15]  Yoshio Kosuge,et al.  Target tracking using range rate measurements under dense environments , 2002 .

[16]  Hongren Zhou.  Tracking of Maneuvering Targets. , 1984 .

[17]  Genshe Chen,et al.  A range rate based detection technique for tracking a maneuvering target , 2005, SPIE Optics + Photonics.

[18]  Chongzhao Han,et al.  Sequential nonlinear tracking using UKF and raw range-rate measurements , 2007, IEEE Transactions on Aerospace and Electronic Systems.

[19]  H. V. Trees.  Detection, Estimation, And Modulation Theory , 2001 .