Constant turn model for converted Doppler measurement Kalman filter

In this paper, we derive the discrete temporal evolution equation of the pseudo state vector, defined by the converted Doppler (the productive of target true range and range rate) and its first derivative, for the constant turn (CT) motion. The resulted linear state equation allows using of linear Kalman filter to extract information from the pseudo measurements (the productive of range and Doppler measurements) of a target moves with constant speed and constant turn rate. The method is referred to as converted Doppler measurement Kalman filter (CDMKF) and is used in parallel with the converted position measurement Kalman filter (CPMKF) to establish a parallel filtering structure (PRL-CMKF). The validity of the proposed CT model is demonstrated by assessing the performance of the CDMKF and PRL-CMKF. Comparative results show the superior performance of the proposed method especially in challenging scenario with large position measurement errors.