中文摘要：

与范围率(Doppler ) 在球形的坐标追踪问题大小，它将有错误相关到范围测量错误，在这份报纸被调查。变换 Doppler 大小，由 Doppler 大小和范围大小的产品构造了，被用来代替原来的 Doppler 大小。基于不偏的 Kalman，过滤器(KF ) 被建议在更新目标前减少变换 Doppler 测量错误的一个降噪的方法为经常的速度(CV ) 说模型。从降噪的过滤器的状态然后从变换测量 Kalman 过滤器(CMKF ) 与笛卡儿的状态被相结合生产最后的州的估计。降噪的过滤器状态的非线性被在一个泰勒系列从 CMKF 在笛卡儿的状态附近扩展他们直到第二个顺序术语处理。在吝啬的时间，在普通范围大小引起的二个过滤器之间的关联被最小的均方差(MMSE ) 处理基于评价的方法。这些导致一个新追踪过滤器， CMDN-EKF2。蒙特卡罗模拟证明建议追踪的过滤器能向有效、柔韧的性能提供谦虚计算费用。

英文摘要：

Tracking problem in spherical coordinates with range rate （Doppler） measurements, which would have errors correlated to the range measurement errors, is investigated in this paper. The converted Doppler measurements, constructed by the product of the Doppler measurements and range measurements, are used to replace the original Doppler measurements. A de-noising method based on an unbiased Kalman filter （KF） is proposed to reduce the converted Doppler measurement errors before updating the target states for the constant velocity （CV） model. The states from the de-noising filter are then combined with the Cartesian states from the converted measurement Kalman filter （CMKF） to produce final state estimates. The nonlinearity of the de-noising filter states are handled by expanding them around the Cartesian states from the CMKF in a Taylor series up to the second order term. In the mean time, the correlation between the two filters caused by the common range measurements is handled by a mini- mum mean squared error （MMSE） estimation-based method. These result in a new tracking filter, CMDN-EKF2. Monte Carlo simulations demonstrate that the proposed tracking filter can provide efficient and robust performance with a modest computa- tional cost.