Enhanced sequential nonlinear tracking filter with denoised pseudo measurements

Sequential nonlinear tracking filter using pseudo measurements has been proposed to solve the tracking problem with range-rate measurements. Replacing the range-rate measurement by pseudo measurement constructed by the product of range and range-rate measurements can reduce nonlinearity, but large covariance of the error of pseudo measurements may be introduced. A denoising method based on a debiased Kalman filter is proposed in this paper to …