Track-before-detect (TBD) of weak maneuvering targets in range-Doppler plane is investigated. The existing TBD methods suffer from performance degradation due to the use of approximate motion models in range-Doppler plane. In this paper, exact time evolving rules of target range and Doppler are presented for constant acceleration (CA) and coordinated turn (CT) motions in Cartesian coordinates, and two novel pseudo-spectrum based TBD approaches are proposed for effective detection of weak CA and CT targets in range-Doppler plane, respectively. In accordance with the common CA and CT motions in Cartesian coordinates, the accurate time evolution equations of range and Doppler are derived for CA and CT targets, respectively, which are nonlinear functions of range-Doppler and several invariable parameters. Then, the pseudo-spectrum based TBD of CA and CT targets in range-Doppler plane is performed by matching these invariants. Each range-Doppler cell is predicted according to the exact evolution equation. A pseudo-spectrum is constructed around the predicted position, and sample values of the pseudo-spectrum are added onto cells for energy integration. This eliminates performance loss caused by model mismatch and target output envelope can be well maintained. To deal with the unknown target parameters, two pseudo-spectrum based matched filter banks are proposed for CA and CT targets, respectively. Analysis and design of the filter banks are provided in detail. Simulations are conducted to evaluate the validity of the proposed methods in handling weak maneuvering targets.
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