Performance analysis of unbiased and classical measurement conversion techniques

Conventional tracking with range-bearing measurements often requires the measurement to be converted to Cartesian coordinates before a tracker is invoked. Theoretical limits are derived for the performance of classical and unbiased conversion techniques using the expected normalized error squared as a function of bearing uncertainty and the ratio of range to range uncertainty. The unbiased measurement conversion is shown to be more consistent than the classical measurement conversion with respect to range and bearing uncertainty.