range-bearing measurements

问题：在雷达跟踪中，经常出现：range-bearing measurements，究竟什么是“range-bearing measurements”呢？

解答：参考以下解答——

The resulting experimental algorithm involves an extended Kalman-Bucy fiter (EKF) with both geographic and acoustic states, and handles measurement vectors such as bearing/frequency and delay/Doppler difference.

事实上，

range-bearing measurements——径向距离/ 方位角

delay-Doppler——时延/ 多普勒频移（速度）

 

径向距离(range), 速度/多普勒频移(Doppler), and 方位角(bearing分辨率(resolutions)计算(单目标状态为x)：

　　r(x)=sqrt(p_x²+p_y²), d(x)=-(v_x p_x+v_y p_y )/r(x), b(x)=atan2(p_x, p_y)

 

方位角也可以解释为极角(polar angle) [3]：

In doing so, the function considers the component weight, the size of the estimated extension and the uncertainty in bearing (i.e., the polar angle from the sensor to the component).

 

参考：

[1] Sonar Tracking of Multiple Targets Using Joint Probabilistic Data Association. Thomas E. Fortmann.

[2] Generalized Labeled Multi-Bernoulli Approximation of Multi-Object Densities. Francesco Papi, Ba-Ngu Vo, Ba-Tuong Vo, Claudio Fantacci, and Michael Beard.

[3] A PHD Filter for Tracking Multiple Extended Targets Using Random Matrices, Karl Granström, Student Member, IEEE, and Umut Orguner, Member, IEEE.

 

感谢 https://www.cnblogs.com/sunny99/ sumoier对本文的帮助！