The radar measurements are composed of range, Doppler and angles which are expressed as polar-coordinate components. An approach to match the measurements with the states of target dynamics which are modeled in cartesian coordinates is to use the pseudomeasurements or the extended Kalman filter in order to solve the mismatching problem. Another approach is that the states of dynamics are modeled in polar coordinates and measurement equation is linear. However, this approach bears that we have

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... deal with a time-varying dynamics. In this study, it is proposed that the states of dynamics are expressed as polar-coordinate component and the system matrix of the dynamic equation is modeled as a time-invariant. Nonlinear terms that appear due to the proposed modeling are regarded as a system input. The results of a series of simulation runs indicate that the tracking filter that uses the proposed modeling is viable from the fact that the Doppler measurement is easy to be augmented in the measurement equation. Ⅰ. 서 론 표적 추적 필터에서 동력학 모델링의 상태변수를 직교 좌표계에서 표현하였을 경우에는 비선형 측정방정식을 다루어야 한다. 이러한 비선형 측정 방정식을 사용하여 표적 추적에 적용할 때에는 EKF(Extended Kalman filter) [1] 를 사용하거나, 의사 측정치로 변환시키는 방법을 고려할 수 있다. 의사측정치를 사용한 참고문헌 [2], [3]에서는 직 교 좌표계에서 정의된 각 축의 필터 상태변수들이 서로 상관관계를 갖게 되고, 의사 측정치를 사용함으로써 바이 ⓒ