New development on tracking algorithm with derivation measurement

We attempt to present a new observation model in this paper to improve the state estimation and prediction in a target tracking problems. There are two distinguished points in this approach. First, the measurement equation is set up in the polar coordinate and even combines the derivation measurement (range rate, azimuth rate, and elevation rate) with the usual position measurements (range, azimuth angle, and elevation angle). Second, the observation noise of sensor date are considered as a colored one and be set up as model of AR(1), by means of pseudo measurement equation, the requirement of Kalman filter will be satisfied. As a result, the accuracy of both the observation and the prediction will be increased.