Abstract
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.
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