Covariance analysis using unbiased conversion and tracking filter design in local navigation frame

Since the measurements of the ship-borne radar are correlated with the ship´s motion, the technique compensating ship´s motion should be considered in the tracking filter design. Recently, it was investigated that the tracking filter with ship´s motion compensation was designed using the covariance derived by the Taylor series first order approximation in the local navigation frame. In order to improve the consistency, the converted measurements and their covariance in the local navigation frame are derived by using the unbiased conversion in this paper. The consistency of the proposed method is verified via 1000 Monte-Carlo runs in terms of ANEES. Also, the tracking filter using the covariance and the converted measurements by the unbiased conversion is designed in local navigation frame. It is shown via 500 Monte-Carlo runs that the proposed tracking filter provides the improved tracking performance than the tracking filter using the covariance derived by Taylor series first order approximation.