Range-Doppler measurements based target locating for active radar seekers

This paper focuses on the estimation of the missile-target relative position using range-Doppler measurements. Firstly, we analyze the observability of the relative position for different trajectories in depth, and arrive at a very interesting conclusion: the missile must have the acceleration component `not aiming at target´ to obtain the 3-D relative position of the target. Secondly, the relative position estimation methods, using measurement series, is presented. Through the computation of Cramer-Rao Lower Bound, we can see the effects on the location errors of the observation series length, the initial missile-target range, the cross-range and radial velocity of the missile, and the cross-range acceleration of the missile, respectively.