THE KALMAN FILTER TRACK PARAMETER ESTIMATION WITH UPDATE STEP BY ALL ACCUMULATED MEASUREMENTS FOR THE LONG-RANGE RADAR

The Kalman filter is widely used for track parameter estimation of the radar information. The Kalman filter algorithm is sensitive to data containing outliers. In this paper, the unscented Kalman filter and its modifications are considered. The unscented transform allows to change structure of the filter and to use all accumulated measurements on the update step. There is an opportunity to exclude outliers with update step by all accumulated measurements. Also, there is an opportunity to estimate track parameter simultaneously by all accumulated measurements