Decorrelated unbiased converted measurement Kalman filter

@article{Bordonaro2014DecorrelatedUC,
  title={Decorrelated unbiased converted measurement Kalman filter},
  author={Steven V. Bordonaro and Peter Willett and Yaakov Bar-Shalom},
  journal={IEEE Transactions on Aerospace and Electronic Systems},
  year={2014},
  volume={50},
  pages={1431-1444}
}
Converted measurement tracking is a technique that filters in the coordinate system where the underlying process of interest is linear and Gaussian and requires the measurements to be nonlinearly transformed to fit. The goal of the transformation is to allow for tracking in the coordinate system that is most natural for describing system dynamics. There are two potential issues that arise when performing converted measurement tracking. The first is conversion bias that occurs when the… CONTINUE READING
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