An Analytic Method for Doppler Changing Rate Based on Frequency Measurement - A Formula of Doppler Direct Ranging

An analytic method solving Doppler changing rate is presented only by measuring Doppler shift or measured value of frequency. On condition that aerial vehicle is uniform motion, a Doppler direct ranging formula can be firstly derived by making use of the velocity vector identity, the relation between Doppler changing rate and tangential velocity as well as the specific value of Doppler changing rate at neighbor node. As soon as this ranging formula is substituted into the expression of Doppler changing rate, the analytic formula solving Doppler changing rate can be obtained. The analog calculation shows that the relative error derived formula is less than 0.01%.