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 reduce the error of pseudo measurements. Then the denoised pseudo measurements are processed sequentially with position measurements to establish a new tracking filter with range-rate measurements. The proposed filtering method can reduce not only the nonlinearity but also the error of pseudo measurements. Monte Carlo simulations show that the performance of the new tracking filter is better than the sequential filter using pseudo measurement without denoising.