A sequential EKF algorithm with the LFM waveform

A new algorithm is developed to incorporate radial velocity measurement into a Kalman filter for the LFM signal waveform. An analysis is given about the statistical properties of the range and radial velocity measurements. Based on statistical correlation analysis of the radial velocity measurement noise and state estimation errors after position measurements updating, an equivalent radial velocity measurement equation is derived where corresponding measurement noise is uncorrelated with state estimation errors thus obtaining a sequential EKF algorithm. Monte Carlo simulation results show that the new algorithm not only effectively removes the bias caused by the range-Doppler coupling, but also improves the estimation accuracy and is superior to conventional EKF in its estimation performance.