A novel approach in Doppler measurement processing

In order to solve the problem of algorithmic complexity and large computation in Doppler radar measurement processing, a direct unscented Kalman filter is proposed in the paper. It undertakes nonlinear filtering to Doppler radar measurement in mixed coordinate directly, which makes the algorithm much simpler and reduces computation greatly. Simulation results show that the algorithm not only reaches the similar state estimation accuracy like SEKF and SUKF, but also improves the consistency of state estimation apparently.